{"id":"https://openalex.org/W4298112132","doi":"https://doi.org/10.1109/ro-man53752.2022.9900858","title":"In-hand manipulation planning using human motion dictionary","display_name":"In-hand manipulation planning using human motion dictionary","publication_year":2022,"publication_date":"2022-08-29","ids":{"openalex":"https://openalex.org/W4298112132","doi":"https://doi.org/10.1109/ro-man53752.2022.9900858"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man53752.2022.9900858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man53752.2022.9900858","pdf_url":null,"source":{"id":"https://openalex.org/S4363607995","display_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2308.15153","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020827546","display_name":"Ali Hammoud","orcid":null},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Ali Hammoud","raw_affiliation_strings":["Sorbonne Universite,Institut des Systemes Intelligents et de Robotique, ISIR,Paris,France,F-75005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universite,Institut des Systemes Intelligents et de Robotique, ISIR,Paris,France,F-75005","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077880770","display_name":"Valerio Belcamino","orcid":"https://orcid.org/0000-0002-9264-8191"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valerio Belcamino","raw_affiliation_strings":["University of Genoa,The Engine Room,Department of Informatics, Bioengineering, Robotics, and Systems Engineering,Genoa,Italy,16145"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genoa,The Engine Room,Department of Informatics, Bioengineering, Robotics, and Systems Engineering,Genoa,Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083539729","display_name":"Alessandro Carf\u00ec","orcid":"https://orcid.org/0000-0001-9208-6910"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Carfi","raw_affiliation_strings":["University of Genoa,The Engine Room,Department of Informatics, Bioengineering, Robotics, and Systems Engineering,Genoa,Italy,16145"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genoa,The Engine Room,Department of Informatics, Bioengineering, Robotics, and Systems Engineering,Genoa,Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032100382","display_name":"V\u00e9ronique Perdereau","orcid":null},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Veronique Perdereau","raw_affiliation_strings":["Sorbonne Universite,Institut des Systemes Intelligents et de Robotique, ISIR,Paris,France,F-75005"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne Universite,Institut des Systemes Intelligents et de Robotique, ISIR,Paris,France,F-75005","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017108129","display_name":"Fulvio Mastrogiovanni","orcid":"https://orcid.org/0000-0001-5913-1898"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fulvio Mastrogiovanni","raw_affiliation_strings":["University of Genoa,The Engine Room,Department of Informatics, Bioengineering, Robotics, and Systems Engineering,Genoa,Italy,16145"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genoa,The Engine Room,Department of Informatics, Bioengineering, Robotics, and Systems Engineering,Genoa,Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5020827546"],"corresponding_institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"],"apc_list":null,"apc_paid":null,"fwci":0.7022,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6159187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"18","issue":null,"first_page":"927","last_page":"933"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/computer-science","display_name":"Computer science","score":0.682200014591217},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5649392008781433},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5632416605949402},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4684849977493286},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4472964406013489},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.4466910660266876},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3395369350910187},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14215070009231567}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.682200014591217},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5649392008781433},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5632416605949402},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4684849977493286},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4472964406013489},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.4466910660266876},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3395369350910187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14215070009231567}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ro-man53752.2022.9900858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man53752.2022.9900858","pdf_url":null,"source":{"id":"https://openalex.org/S4363607995","display_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2308.15153","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.15153","pdf_url":"https://arxiv.org/pdf/2308.15153","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"},{"id":"pmh:oai:HAL:hal-04609538v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04609538","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2022), Aug 2022, Naples & virtual conference, Italy. pp.927-933, &#x27E8;10.1109/RO-MAN53752.2022.9900858&#x27E9;","raw_type":"Conference papers"},{"id":"pmh:oai:iris.unige.it:11567/1174017","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1174017","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2308.15153","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2308.15153","pdf_url":"https://arxiv.org/pdf/2308.15153","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":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.6200000047683716}],"awards":[{"id":"https://openalex.org/G2484832597","display_name":null,"funder_award_id":"2014-2020","funder_id":"https://openalex.org/F4320321873","funder_display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca"},{"id":"https://openalex.org/G5892560885","display_name":"Robot In-hand Dexterous manipulation by extracting data from human manipulation of objects to improve robotic autonomy and dexterity","funder_award_id":"ANR-18-CHR3-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6876561401","display_name":null,"funder_award_id":"ANR-18","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320311687","display_name":"Ministry of Education","ror":"https://ror.org/03m01yf64"},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"},{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4298112132.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W203516808","https://openalex.org/W1564897360","https://openalex.org/W2009647834","https://openalex.org/W2060931365","https://openalex.org/W2071128523","https://openalex.org/W2107916269","https://openalex.org/W2110304639","https://openalex.org/W2116830433","https://openalex.org/W2123651102","https://openalex.org/W2123967136","https://openalex.org/W2140499889","https://openalex.org/W2168446235","https://openalex.org/W2766678020","https://openalex.org/W2805556115","https://openalex.org/W2963199973","https://openalex.org/W3005581722","https://openalex.org/W3009516594","https://openalex.org/W3037517396","https://openalex.org/W3154112932","https://openalex.org/W3156303227","https://openalex.org/W3203092975","https://openalex.org/W4206046063","https://openalex.org/W6608217792","https://openalex.org/W6640290305","https://openalex.org/W6678157427","https://openalex.org/W6684865402"],"related_works":["https://openalex.org/W2529580585","https://openalex.org/W2804584315","https://openalex.org/W2035558540","https://openalex.org/W2167757589","https://openalex.org/W2332110715","https://openalex.org/W2988011613","https://openalex.org/W2806036343","https://openalex.org/W2079653927","https://openalex.org/W142482926","https://openalex.org/W1550399236"],"abstract_inverted_index":{"Dexterous":[0],"in-hand":[1,53,93],"manipulation":[2,54,94,133,142],"is":[3,56],"a":[4,47,82],"peculiar":[5],"and":[6,18,29,91,106,140],"useful":[7],"human":[8,78,138],"skill.":[9],"This":[10],"ability":[11],"requires":[12],"the":[13,34,38,43,104,128,137],"coordination":[14],"of":[15,42,123],"many":[16,24],"senses":[17],"hand":[19],"motion":[20,66,86,114,134],"to":[21,23,50,57,60,89,112,116],"adhere":[22],"constraints.":[25],"These":[26,68],"constraints":[27,63,69,143],"vary":[28],"can":[30,70,131],"be":[31,58,71],"influenced":[32],"by":[33],"object":[35],"characteristics":[36],"or":[37,77],"specific":[39,118],"application.":[40],"One":[41],"key":[44],"elements":[45],"for":[46],"robotic":[48],"platform":[49],"implement":[51],"reliable":[52],"skills":[55],"able":[59],"integrate":[61],"those":[62],"in":[64],"their":[65],"generations.":[67],"implicitly":[72],"modelled,":[73],"learned":[74],"through":[75],"experience":[76],"demonstrations.":[79],"We":[80],"propose":[81],"method":[83],"based":[84],"on":[85,100],"primitives":[87,115],"dictionaries":[88],"learn":[90],"reproduce":[92],"skills.":[95],"In":[96],"particular,":[97],"we":[98,107],"focused":[99],"fingertip":[101,119],"motions":[102],"during":[103],"manipulation,":[105],"defined":[108],"an":[109,148],"optimization":[110],"process":[111],"combine":[113],"reach":[117],"configurations.":[120],"The":[121],"results":[122],"this":[124],"work":[125],"show":[126],"that":[127,141],"proposed":[129],"approach":[130],"generate":[132],"coherent":[135],"with":[136],"one":[139],"are":[144],"inherited":[145],"even":[146],"without":[147],"explicit":[149],"formalization.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}
