{"id":"https://openalex.org/W3186125447","doi":"https://doi.org/10.1109/iros51168.2021.9636832","title":"Learning compliant grasping and manipulation by teleoperation with adaptive force control","display_name":"Learning compliant grasping and manipulation by teleoperation with adaptive force control","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3186125447","doi":"https://doi.org/10.1109/iros51168.2021.9636832","mag":"3186125447"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636832","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636832","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101850794","display_name":"Chao Zeng","orcid":"https://orcid.org/0000-0003-3648-4644"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Chao Zeng","raw_affiliation_strings":["TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415898","display_name":"Shuang Li","orcid":"https://orcid.org/0000-0002-0690-1331"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shuang Li","raw_affiliation_strings":["TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067854210","display_name":"Yiming Jiang","orcid":"https://orcid.org/0000-0001-5963-2932"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Jiang","raw_affiliation_strings":["National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"National Engineering Laboratory for Robot Visual Perception and Control, Hunan University, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100429974","display_name":"Qiang Li","orcid":"https://orcid.org/0000-0002-4315-0864"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Qiang Li","raw_affiliation_strings":["Center for Cognitive Interaction Technology, Bielefeld University, Germany"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Interaction Technology, Bielefeld University, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705037","display_name":"Zhaopeng Chen","orcid":"https://orcid.org/0000-0003-0375-9146"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zhaopeng Chen","raw_affiliation_strings":["TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Bristol Robotics Laboratory, University of the West of England, UK"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of the West of England, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"TAMS Group (Technical Aspects of Multimodal Systems), Universitat Hamburg, Germany","institution_ids":["https://openalex.org/I159176309"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101850794"],"corresponding_institution_ids":["https://openalex.org/I159176309"],"apc_list":null,"apc_paid":null,"fwci":4.7997,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.97064306,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"717","last_page":"724"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.7509739398956299},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.7130762338638306},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6489540338516235},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.6320129632949829},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6137073636054993},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5712180137634277},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5581769347190857},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5331095457077026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5243480801582336},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5087314248085022},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4980502128601074},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4672406017780304},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4616137742996216},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4416669011116028},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4315020740032196},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4306493401527405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34598109126091003},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27481281757354736},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2156536877155304}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7509739398956299},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7130762338638306},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6489540338516235},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6320129632949829},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6137073636054993},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5712180137634277},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5581769347190857},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5331095457077026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5243480801582336},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5087314248085022},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4980502128601074},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4672406017780304},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4616137742996216},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4416669011116028},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4315020740032196},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4306493401527405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34598109126091003},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27481281757354736},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2156536877155304},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636832","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636832","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1548528537","https://openalex.org/W2025943982","https://openalex.org/W2057411395","https://openalex.org/W2080487795","https://openalex.org/W2100658034","https://openalex.org/W2111528514","https://openalex.org/W2518197379","https://openalex.org/W2564823405","https://openalex.org/W2606965392","https://openalex.org/W2748628104","https://openalex.org/W2793264449","https://openalex.org/W2795550549","https://openalex.org/W2803694791","https://openalex.org/W2883002567","https://openalex.org/W2889969363","https://openalex.org/W2894714230","https://openalex.org/W2910474428","https://openalex.org/W2911549659","https://openalex.org/W2955791868","https://openalex.org/W2967068439","https://openalex.org/W2967695057","https://openalex.org/W2972404073","https://openalex.org/W2997581345","https://openalex.org/W3006239966","https://openalex.org/W3007398464","https://openalex.org/W3014041360","https://openalex.org/W3048311058","https://openalex.org/W3091133300","https://openalex.org/W3094605036","https://openalex.org/W3129756265","https://openalex.org/W3132029337","https://openalex.org/W3132708124","https://openalex.org/W3167796319","https://openalex.org/W6737010497","https://openalex.org/W6755205166","https://openalex.org/W6796036523"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2296377172","https://openalex.org/W32653828","https://openalex.org/W4229452671","https://openalex.org/W2576722732"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"focus":[4],"on":[5,44],"improving":[6],"the":[7,67,75,79,91,102,111,114,123,129,134,164,169],"robot\u2019s":[8],"dexterous":[9,60],"capability":[10],"by":[11],"exploiting":[12],"visual":[13],"sensing":[14],"and":[15,49,106,125,155,157,168],"adaptive":[16],"force":[17,171],"control.":[18],"TeachNet,":[19,39],"a":[20,33,53,87,137],"vision-based":[21],"teleoperation":[22],"learning":[23],"framework,":[24],"is":[25,41,84],"exploited":[26],"to":[27,32,131],"map":[28],"human":[29,96],"hand":[30],"postures":[31],"multi-fingered":[34],"robot":[35,130],"hand.":[36],"We":[37],"augment":[38],"which":[40,99],"originally":[42],"based":[43],"an":[45],"imprecise":[46],"kinematic":[47],"mapping":[48],"position-only":[50],"servoing,":[51],"with":[52,133],"biomimetic":[54,92],"learning-based":[55],"compliance":[56,64],"control":[57,93,103,167,172],"algorithm":[58],"for":[59],"manipulation":[61],"tasks.":[62],"This":[63],"controller":[65],"takes":[66],"mapped":[68],"robotic":[69],"joint":[70,81,116],"angles":[71],"from":[72,86],"TeachNet":[73],"as":[74],"desired":[76,80],"goal,":[77],"computes":[78],"torques.":[82],"It":[83],"derived":[85],"computational":[88],"model":[89],"of":[90,113,122],"strategy":[94],"in":[95,136,145,148],"motor":[97],"learning,":[98],"allows":[100],"adapting":[101],"variables":[104],"(impedance":[105],"feedforward":[107,126],"force)":[108],"online":[109],"during":[110],"execution":[112],"reference":[115],"angle":[117],"trajectories.":[118],"The":[119],"simultaneous":[120],"adaptation":[121],"impedance":[124],"profiles":[127],"enables":[128],"interact":[132],"environment":[135],"compliant":[138],"manner.":[139],"Our":[140],"approach":[141],"has":[142,158],"been":[143],"verified":[144],"multiple":[146],"tasks":[147],"physics":[149],"simulation,":[150],"i.e.,":[151],"grasping,":[152],"opening-a-door,":[153],"turning-a-cap,":[154],"touching-a-mouse,":[156],"shown":[159],"more":[160],"reliable":[161],"performances":[162],"than":[163],"existing":[165],"position":[166],"fixed-gain-based":[170],"approaches.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}