{"id":"https://openalex.org/W4405787741","doi":"https://doi.org/10.1109/iros58592.2024.10801492","title":"Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach","display_name":"Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787741","doi":"https://doi.org/10.1109/iros58592.2024.10801492"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2412.18869","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030977955","display_name":"Erfan Shahriari","orcid":"https://orcid.org/0000-0002-2980-135X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Erfan Shahriari","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM),Chair of Robotics and Systems Intelligence,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM),Chair of Robotics and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012909962","display_name":"Kim K. Peper","orcid":"https://orcid.org/0009-0004-1109-9920"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kim Kristin Peper","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM),Chair of Robotics and Systems Intelligence,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM),Chair of Robotics and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031321219","display_name":"Matej Hoffmann","orcid":"https://orcid.org/0000-0001-8137-3412"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Matej Hoffmann","raw_affiliation_strings":["Czech Technical University in Prague (CTU),Faculty of Electrical Engineering,Department of Cybernetics,Czech Republic"],"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague (CTU),Faculty of Electrical Engineering,Department of Cybernetics,Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM),Chair of Robotics and Systems Intelligence,Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence, Technical University of Munich (TUM),Chair of Robotics and Systems Intelligence,Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5030977955"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.952,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.77358925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1329","last_page":"1336"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9674999713897705,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9674999713897705,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/ellipsoid","display_name":"Ellipsoid","score":0.8754000067710876},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8359060287475586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5508362650871277},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4466514587402344},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3230392336845398},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31344956159591675},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22235167026519775},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1583319902420044},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.10580718517303467},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10469719767570496}],"concepts":[{"id":"https://openalex.org/C57489055","wikidata":"https://www.wikidata.org/wiki/Q190046","display_name":"Ellipsoid","level":2,"score":0.8754000067710876},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8359060287475586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5508362650871277},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4466514587402344},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3230392336845398},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31344956159591675},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22235167026519775},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1583319902420044},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.10580718517303467},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10469719767570496},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10801492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2412.18869","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.18869","pdf_url":"https://arxiv.org/pdf/2412.18869","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2412.18869","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.18869","pdf_url":"https://arxiv.org/pdf/2412.18869","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G112504165","display_name":null,"funder_award_id":"CZ.02.01.01/00/22_008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5113685046","display_name":null,"funder_award_id":"871352","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6837089890","display_name":null,"funder_award_id":"ROBOPROX","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7594605176","display_name":null,"funder_award_id":"CZ.02.01.01/00/22 008/0004590","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320307771","display_name":"Bayer","ror":"https://ror.org/04hmn8g73"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4405787741.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W194532980","https://openalex.org/W2015179139","https://openalex.org/W2026054764","https://openalex.org/W2049410986","https://openalex.org/W2050689108","https://openalex.org/W2066379939","https://openalex.org/W2073764547","https://openalex.org/W2082761088","https://openalex.org/W2098874655","https://openalex.org/W2109446110","https://openalex.org/W2116776441","https://openalex.org/W2169564405","https://openalex.org/W2486877074","https://openalex.org/W2561564729","https://openalex.org/W2564917287","https://openalex.org/W2606499982","https://openalex.org/W2737193483","https://openalex.org/W2947484233","https://openalex.org/W2962730651","https://openalex.org/W2973039626","https://openalex.org/W2996458220","https://openalex.org/W3004105916","https://openalex.org/W4386076106","https://openalex.org/W4388284323","https://openalex.org/W4390874306"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2005485125","https://openalex.org/W2390718407","https://openalex.org/W1979597421","https://openalex.org/W1986006778","https://openalex.org/W2034124193","https://openalex.org/W2379017606","https://openalex.org/W4211143546","https://openalex.org/W2007980826","https://openalex.org/W2171970890"],"abstract_inverted_index":{"Manipulability":[0],"analysis":[1],"is":[2,61],"a":[3,15,32,104],"methodology":[4],"employed":[5],"to":[6,18,48,58,122],"assess":[7],"the":[8,36,52,74,79,82,92,97,100,112,116,129,132],"capacity":[9],"of":[10,81,99,106,131],"an":[11],"articulated":[12],"system,":[13],"at":[14],"specific":[16],"configuration,":[17,76],"produce":[19],"motion":[20],"or":[21],"exert":[22],"force":[23],"in":[24,69,124],"diverse":[25],"directions.":[26],"The":[27],"conventional":[28],"method":[29,118],"entails":[30],"generating":[31],"virtual":[33],"ellipsoid":[34],"using":[35],"system\u2019s":[37],"configuration":[38],"and":[39,110],"model.":[40],"Yet,":[41],"this":[42,87,89],"approach":[43,94],"poses":[44],"challenges":[45],"when":[46],"applied":[47],"systems":[49],"such":[50,59],"as":[51],"human":[53],"body,":[54],"where":[55],"direct":[56],"access":[57],"information":[60],"limited,":[62],"necessitating":[63],"reliance":[64],"on":[65],"estimations.":[66],"Any":[67],"inaccuracies":[68],"these":[70],"estimations":[71],"can":[72],"distort":[73],"ellipsoid\u2019s":[75],"potentially":[77],"compromising":[78],"accuracy":[80],"manipulability":[83,101],"assessment.":[84],"To":[85],"address":[86],"issue,":[88],"article":[90,113],"extends":[91],"standard":[93],"by":[95],"introducing":[96],"concept":[98],"pseudo-ellipsoid.":[102],"Through":[103],"series":[105],"theoretical":[107],"analyses,":[108],"simulations,":[109],"experiments,":[111],"demonstrates":[114],"that":[115],"proposed":[117],"exhibits":[119],"reduced":[120],"sensitivity":[121],"noise":[123],"sensory":[125],"information,":[126],"consequently":[127],"enhancing":[128],"robustness":[130],"approach.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
