{"id":"https://openalex.org/W4221141160","doi":"https://doi.org/10.1109/lra.2022.3190806","title":"A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration","display_name":"A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration","publication_year":2022,"publication_date":"2022-07-14","ids":{"openalex":"https://openalex.org/W4221141160","doi":"https://doi.org/10.1109/lra.2022.3190806"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3190806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3190806","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.05413","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065996006","display_name":"Yasuhiro Kato","orcid":"https://orcid.org/0000-0001-8343-5314"},"institutions":[{"id":"https://openalex.org/I72253084","display_name":"Saitama University","ror":"https://ror.org/02evnh647","country_code":"JP","type":"education","lineage":["https://openalex.org/I72253084"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhiro Kato","raw_affiliation_strings":["Graduate School of Science and Engineering, Saitama University, Saitama, Japan"],"raw_orcid":"https://orcid.org/0000-0001-8343-5314","affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Saitama University, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019390979","display_name":"Pietro Balatti","orcid":"https://orcid.org/0000-0001-8303-9733"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pietro Balatti","raw_affiliation_strings":["HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8303-9733","affiliations":[{"raw_affiliation_string":"HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023183689","display_name":"Juan M. Gandar\u00edas","orcid":"https://orcid.org/0000-0002-0382-334X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Juan M. Gandarias","raw_affiliation_strings":["HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-0382-334X","affiliations":[{"raw_affiliation_string":"HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026875541","display_name":"Mattia Leonori","orcid":"https://orcid.org/0000-0003-3653-4648"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mattia Leonori","raw_affiliation_strings":["HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3653-4648","affiliations":[{"raw_affiliation_string":"HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017159721","display_name":"Toshiaki Tsuji","orcid":"https://orcid.org/0000-0002-4532-4514"},"institutions":[{"id":"https://openalex.org/I72253084","display_name":"Saitama University","ror":"https://ror.org/02evnh647","country_code":"JP","type":"education","lineage":["https://openalex.org/I72253084"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiaki Tsuji","raw_affiliation_strings":["Graduate School of Science and Engineering, Saitama University, Saitama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-4532-4514","affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Saitama University, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1261-737X","affiliations":[{"raw_affiliation_string":"HRI Lab of the Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7783,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.63404056,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"7","issue":"4","first_page":"9461","last_page":"9468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/haptic-technology","display_name":"Haptic technology","score":0.8005367517471313},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6586947441101074},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5469931364059448},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5151692628860474},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.42639973759651184},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41422000527381897},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4008373022079468},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3648379147052765},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3094507157802582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2595042586326599},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07055756449699402}],"concepts":[{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8005367517471313},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6586947441101074},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5469931364059448},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5151692628860474},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.42639973759651184},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41422000527381897},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4008373022079468},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3648379147052765},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3094507157802582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2595042586326599},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07055756449699402}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3190806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3190806","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:arXiv.org:2203.05413","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.05413","pdf_url":"https://arxiv.org/pdf/2203.05413","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.05413","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.05413","pdf_url":"https://arxiv.org/pdf/2203.05413","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1500588313","https://openalex.org/W1969976050","https://openalex.org/W1978023077","https://openalex.org/W1987710890","https://openalex.org/W1997111790","https://openalex.org/W2007850612","https://openalex.org/W2080487795","https://openalex.org/W2101874720","https://openalex.org/W2126172323","https://openalex.org/W2128990851","https://openalex.org/W2131666656","https://openalex.org/W2141664020","https://openalex.org/W2149085596","https://openalex.org/W2154777391","https://openalex.org/W2164450398","https://openalex.org/W2169187067","https://openalex.org/W2564917287","https://openalex.org/W2605924076","https://openalex.org/W2767508918","https://openalex.org/W2770423878","https://openalex.org/W2791542133","https://openalex.org/W2885414200","https://openalex.org/W2909491791","https://openalex.org/W3047066615","https://openalex.org/W3093799842","https://openalex.org/W3094198490","https://openalex.org/W4253528930"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W1568779110","https://openalex.org/W804484174","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,105,115,167,180],"novel":[4],"interaction":[5,36,161,169],"planning":[6,42],"method":[7,127,193],"that":[8],"exploits":[9,64],"impedance":[10,76],"tuning":[11],"techniques":[12],"in":[13,60,137,153],"response":[14],"to":[15,80,84,94,159,186],"environmental":[16],"uncertainties":[17,176],"and":[18,40,67,88,131,165],"unpredictable":[19],"conditions":[20],"using":[21],"haptic":[22,35],"information":[23],"only.":[24],"The":[25,112,125],"proposed":[26,100,126,135,192],"algorithm":[27],"plans":[28],"the":[29,34,38,52,56,65,68,72,81,96,99,121,145,154,160,163,175,188,191],"robot's":[30],"trajectory":[31,83,151],"based":[32],"on":[33],"with":[37,104,162,170],"environment":[39,173],"adapts":[41],"strategies":[43],"as":[44],"needed.":[45],"Two":[46],"approaches":[47],"are":[48,109],"considered:ExplorationandBouncingstrategies.":[49],"TheExplorationstrategy":[50],"takes":[51],"actual":[53],"motion":[54,69],"of":[55,71,98,190],"robot":[57,146],"into":[58],"account":[59],"planning,":[61],"while":[62],"theBouncingstrategy":[63],"forces":[66],"vector":[70],"robot.":[73],"Moreover,":[74],"self-tuning":[75],"is":[77,129,177,183],"performed":[78],"according":[79,158],"planned":[82],"ensure":[85],"compliant":[86,168],"contact":[87,90],"low":[89],"forces.":[91],"In":[92],"order":[93],"show":[95,187],"performance":[97,128],"methodology,":[101],"two":[102],"experiments":[103],"torque-controller":[106],"robotic":[107],"arm":[108],"carried":[110,184],"out.":[111],"first":[113],"considers":[114],"maze":[116],"exploration":[117],"without":[118],"obstacles,":[119],"whereas":[120],"second":[122],"includes":[123],"obstacles.":[124],"analyzed":[130],"compared":[132],"against":[133],"previously":[134],"solutions":[136],"both":[138],"cases.":[139],"Experimental":[140],"results":[141],"demonstrate":[142],"that:":[143],"i)":[144],"can":[147],"successfully":[148],"plan":[149],"its":[150],"autonomously":[152],"most":[155],"feasible":[156],"direction":[157],"environment,":[164],"ii)":[166],"an":[171],"unknown":[172],"despite":[174],"achieved.":[178],"Finally,":[179],"scalability":[181],"demonstration":[182],"out":[185],"potential":[189],"under":[194],"multiple":[195],"scenarios.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}