{"id":"https://openalex.org/W2730442514","doi":"https://doi.org/10.1109/lra.2017.2720853","title":"A Tactile-Based Framework for Active Object Learning and Discrimination using Multimodal Robotic Skin","display_name":"A Tactile-Based Framework for Active Object Learning and Discrimination using Multimodal Robotic Skin","publication_year":2017,"publication_date":"2017-06-28","ids":{"openalex":"https://openalex.org/W2730442514","doi":"https://doi.org/10.1109/lra.2017.2720853","mag":"2730442514"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2720853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2720853","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5030520581","display_name":"Mohsen Kaboli","orcid":"https://orcid.org/0000-0002-2320-5717"},"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"]},{"id":"https://openalex.org/I4210127444","display_name":"Fraunhofer Institute for Cognitive Systems","ror":"https://ror.org/02fez3815","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210127444","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mohsen Kaboli","raw_affiliation_strings":["Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210127444","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101952272","display_name":"Di Feng","orcid":"https://orcid.org/0000-0002-8182-4591"},"institutions":[{"id":"https://openalex.org/I4210127444","display_name":"Fraunhofer Institute for Cognitive Systems","ror":"https://ror.org/02fez3815","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210127444","https://openalex.org/I4923324"]},{"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":"Di Feng","raw_affiliation_strings":["Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210127444","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058432868","display_name":"Kunpeng Yao","orcid":"https://orcid.org/0000-0002-5839-081X"},"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"]},{"id":"https://openalex.org/I4210127444","display_name":"Fraunhofer Institute for Cognitive Systems","ror":"https://ror.org/02fez3815","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210127444","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kunpeng Yao","raw_affiliation_strings":["Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210127444","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057436325","display_name":"Pablo Lanillos","orcid":"https://orcid.org/0000-0001-9154-0798"},"institutions":[{"id":"https://openalex.org/I4210127444","display_name":"Fraunhofer Institute for Cognitive Systems","ror":"https://ror.org/02fez3815","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210127444","https://openalex.org/I4923324"]},{"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":"Pablo Lanillos","raw_affiliation_strings":["Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210127444","https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I4210127444","display_name":"Fraunhofer Institute for Cognitive Systems","ror":"https://ror.org/02fez3815","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210127444","https://openalex.org/I4923324"]},{"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":"Gordon Cheng","raw_affiliation_strings":["Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Cognitive Systems (ICS), Technische Universit\u00e4t M\u00fcnchen, M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210127444","https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030520581"],"corresponding_institution_ids":["https://openalex.org/I4210127444","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.8449,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.9411726,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"2","issue":"4","first_page":"2143","last_page":"2150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9998000264167786,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9865999817848206,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8093717694282532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7632012367248535},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6867464184761047},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6421228647232056},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6115682125091553},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5149405598640442},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.5102660655975342},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5072133541107178},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49956655502319336},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4638431668281555},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4310634732246399},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41943755745887756},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41853490471839905},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36172226071357727},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26720139384269714}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8093717694282532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7632012367248535},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6867464184761047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6421228647232056},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6115682125091553},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5149405598640442},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.5102660655975342},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5072133541107178},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49956655502319336},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4638431668281555},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4310634732246399},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41943755745887756},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41853490471839905},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36172226071357727},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26720139384269714},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2720853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2720853","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1980459447","https://openalex.org/W1980610687","https://openalex.org/W1982057826","https://openalex.org/W2004277113","https://openalex.org/W2005636679","https://openalex.org/W2048132605","https://openalex.org/W2067454831","https://openalex.org/W2075000945","https://openalex.org/W2079883361","https://openalex.org/W2080317558","https://openalex.org/W2099322603","https://openalex.org/W2099588617","https://openalex.org/W2105028667","https://openalex.org/W2107947143","https://openalex.org/W2115448812","https://openalex.org/W2159863808","https://openalex.org/W2168986765","https://openalex.org/W2171130677","https://openalex.org/W2216666738","https://openalex.org/W2292222414","https://openalex.org/W2295260398","https://openalex.org/W2413050899","https://openalex.org/W2528124744","https://openalex.org/W2542262075","https://openalex.org/W2812031262","https://openalex.org/W6670713271","https://openalex.org/W6677172227","https://openalex.org/W6753517774"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W38056103","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W2626077511","https://openalex.org/W2094878326"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"propose":[4],"a":[5,102,114],"complete":[6],"probabilistic":[7],"tactile-based":[8],"framework":[9,27,109],"to":[10,13,37,48,87,89,136,141,161,196],"enable":[11],"robots":[12],"autonomously":[14],"explore":[15,39],"unknown":[16,40,51],"workspaces":[17],"and":[18,61,71,138,143],"recognize":[19],"objects":[20,52,100,187],"based":[21,53],"on":[22,54],"their":[23,55],"physical":[24,56],"properties.":[25],"Our":[26,107],"consists":[28],"of":[29,68,105,132,149,174,191],"three":[30],"components:":[31],"1)":[32],"an":[33,43,73,189],"active":[34,44,74,126,151],"pretouch":[35,127],"strategy":[36],"efficiently":[38,97],"workspaces;":[41],"2)":[42],"touch":[45,75,152],"learning":[46,153,165,181],"method":[47,128],"learn":[49],"about":[50],"properties":[57],"(surface":[58],"texture,":[59],"stiffness,":[60],"thermal":[62],"conductivity)":[63],"with":[64,101,118,124,188],"the":[65,82,90,94,125,130,133,150,155,163,168,175,180,183,197],"least":[66],"number":[67,104],"training":[69],"samples;":[70],"3)":[72],"algorithm":[76],"for":[77],"object":[78],"discrimination,":[79],"which":[80],"selects":[81],"most":[83],"informative":[84],"exploratory":[85],"action":[86,199],"apply":[88],"object,":[91],"so":[92],"that":[93],"robot":[95,123,156,184],"can":[96],"distinguish":[98],"between":[99],"few":[103],"actions.":[106],"proposed":[108],"was":[110],"experimentally":[111],"evaluated":[112],"using":[113],"robotic":[115],"arm":[116],"equipped":[117],"multimodal":[119],"artificial":[120],"skin.":[121],"The":[122],"reduced":[129],"uncertainty":[131],"workspace":[134],"up":[135],"30%":[137],"70%":[139],"compared":[140],"uniform":[142],"random":[144,198],"strategies,":[145],"respectively.":[146],"By":[147,171],"means":[148],"algorithm,":[154],"used":[157],"50%":[158],"fewer":[159],"samples":[160],"achieve":[162],"same":[164],"accuracy":[166,194],"than":[167],"baseline":[169],"methods.":[170],"taking":[172],"advantage":[173],"prior":[176],"knowledge":[177],"obtained":[178],"during":[179],"process,":[182],"actively":[185],"discriminated":[186],"improvement":[190],"10%":[192],"recognition":[193],"compare":[195],"selection":[200],"approach.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}