{"id":"https://openalex.org/W2123363629","doi":"https://doi.org/10.1109/robio.2009.4913191","title":"Force modeling of inhomogeneous material using unsupervised learning and model identification","display_name":"Force modeling of inhomogeneous material using unsupervised learning and model identification","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2123363629","doi":"https://doi.org/10.1109/robio.2009.4913191","mag":"2123363629"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4913191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5055684232","display_name":"Chen Zhao","orcid":"https://orcid.org/0000-0002-3911-1125"},"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":"Chen Zhao","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcchen, Garching, D 85748, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcchen, Garching, D 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090114501","display_name":"Heinz Ulbrich","orcid":null},"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":"H. Ulbrich","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcchen, Garching, D 85748, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcchen, Garching, D 85748, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055684232"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.7698,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.78132335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":null,"first_page":"1319","last_page":"1324"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9894000291824341,"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":0.9894000291824341,"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":0.9761999845504761,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9350000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/unsupervised-learning","display_name":"Unsupervised learning","score":0.6772041320800781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6275014877319336},{"id":"https://openalex.org/keywords/principal-component-analysis","display_name":"Principal component analysis","score":0.6083502769470215},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5450085401535034},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5157151818275452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4988062381744385},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.46156424283981323},{"id":"https://openalex.org/keywords/gauss","display_name":"Gauss","score":0.46005958318710327},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.45720937848091125},{"id":"https://openalex.org/keywords/discriminant","display_name":"Discriminant","score":0.4354028105735779},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3610362410545349},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3305073082447052},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23199665546417236},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08311906456947327}],"concepts":[{"id":"https://openalex.org/C8038995","wikidata":"https://www.wikidata.org/wiki/Q1152135","display_name":"Unsupervised learning","level":2,"score":0.6772041320800781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6275014877319336},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.6083502769470215},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5450085401535034},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5157151818275452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4988062381744385},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.46156424283981323},{"id":"https://openalex.org/C161794534","wikidata":"https://www.wikidata.org/wiki/Q177493","display_name":"Gauss","level":2,"score":0.46005958318710327},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.45720937848091125},{"id":"https://openalex.org/C78397625","wikidata":"https://www.wikidata.org/wiki/Q192487","display_name":"Discriminant","level":2,"score":0.4354028105735779},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3610362410545349},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3305073082447052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23199665546417236},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08311906456947327},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2009.4913191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4913191","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1134246","is_oa":false,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1134246","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1485335382","https://openalex.org/W1541162015","https://openalex.org/W1559242836","https://openalex.org/W1588404981","https://openalex.org/W2016266599","https://openalex.org/W2056415038","https://openalex.org/W2113022578","https://openalex.org/W2130519627","https://openalex.org/W2133218851","https://openalex.org/W2149497729","https://openalex.org/W2754300823","https://openalex.org/W4206082967","https://openalex.org/W4293775970","https://openalex.org/W6682073222"],"related_works":["https://openalex.org/W1975632186","https://openalex.org/W3027745756","https://openalex.org/W3205213561","https://openalex.org/W2531880140","https://openalex.org/W2126145365","https://openalex.org/W2036609560","https://openalex.org/W346861917","https://openalex.org/W3024018414","https://openalex.org/W1542592062","https://openalex.org/W4380081032"],"abstract_inverted_index":{"In":[0,97],"this":[1,46],"paper":[2],"a":[3,93],"force":[4],"modeling":[5,13,86,105],"method":[6,14,87,106],"for":[7,22],"inhomogeneous":[8,42],"materials":[9],"is":[10,15,31,88],"introduced.":[11],"This":[12],"based":[16],"on":[17],"samples":[18],"during":[19],"haptic":[20],"operations,":[21],"instance":[23],"presses.":[24],"Using":[25],"biomimetic":[26],"unsupervised":[27],"learning,":[28],"the":[29,35,41,48,52,56,60,67,73,80,85,99,104],"model":[30],"primarily":[32],"identified,":[33],"including":[34],"distribution":[36],"and":[37,44,59,70,90,101],"material":[38,68],"parameters":[39,69],"of":[40,72,95,103],"regions,":[43],"in":[45],"learning":[47],"parameter":[49],"initial":[50],"estimation,":[51],"principal":[53],"component":[54],"analysis,":[55],"cluster":[57],"analysis":[58,63],"quadratic":[61],"discriminant":[62],"are":[64,76,107],"applied.":[65],"Then":[66],"boundaries":[71],"different":[74],"regions":[75],"accurately":[77],"optimized":[78],"using":[79],"Gauss-Newton":[81],"algorithm.":[82],"Further":[83],"more":[84],"tested":[89],"verified":[91],"by":[92],"set":[94],"simulations.":[96],"addition,":[98],"suggestions":[100],"prospect":[102],"also":[108],"given.":[109]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}