{"id":"https://openalex.org/W2162509261","doi":"https://doi.org/10.1109/roman.2009.5326326","title":"The humanoid museum tour guide Robotinho","display_name":"The humanoid museum tour guide Robotinho","publication_year":2009,"publication_date":"2009-09-01","ids":{"openalex":"https://openalex.org/W2162509261","doi":"https://doi.org/10.1109/roman.2009.5326326","mag":"2162509261"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2009.5326326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2009.5326326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","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/A5101922529","display_name":"Felix Faber","orcid":"https://orcid.org/0000-0003-3728-6105"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Felix Faber","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076300410","display_name":"Clemens Eppner","orcid":"https://orcid.org/0000-0002-5398-4037"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Clemens Eppner","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079525191","display_name":"Attila G\u00f6r\u00f6g","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Attila Gorog","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053463267","display_name":"Christoph Gonsior","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christoph Gonsior","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060487181","display_name":"Dominik Joho","orcid":"https://orcid.org/0000-0002-8263-7157"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dominik Joho","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072774427","display_name":"Michael Schreiber","orcid":"https://orcid.org/0000-0003-2228-9258"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Schreiber","raw_affiliation_strings":["Department of Computer Science VI, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Department of Computer Science VI, University of Bonn, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science VI, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101922529"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":12.0616,"has_fulltext":false,"cited_by_count":103,"citation_normalized_percentile":{"value":0.9866506,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"891","last_page":"896"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9976999759674072,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8323813676834106},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.7400524020195007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7034374475479126},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.6096476316452026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5879001021385193},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5326677560806274},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.48648402094841003},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4333251714706421},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4313790202140808},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.42686840891838074},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.33879798650741577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3287467956542969},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.310972660779953},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23200145363807678},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08894795179367065},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0817531943321228},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.05980324745178223}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8323813676834106},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.7400524020195007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7034374475479126},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.6096476316452026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5879001021385193},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5326677560806274},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.48648402094841003},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4333251714706421},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4313790202140808},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.42686840891838074},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.33879798650741577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3287467956542969},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.310972660779953},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23200145363807678},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08894795179367065},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0817531943321228},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.05980324745178223},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/roman.2009.5326326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2009.5326326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.149.7279","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.149.7279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ais.uni-bonn.de/papers/RO-MAN_2009_Robotinho.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.150.890","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.150.890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~maren/papers/roman09robotinho.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.719.2450","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.719.2450","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www2.informatik.uni-freiburg.de/%7Ejoho/publications/faber09roman.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.726.5550","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.726.5550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/eppner_oct.2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W46672805","https://openalex.org/W106217926","https://openalex.org/W1577509784","https://openalex.org/W1595732857","https://openalex.org/W1968729317","https://openalex.org/W2016565202","https://openalex.org/W2053407718","https://openalex.org/W2106045219","https://openalex.org/W2113466947","https://openalex.org/W2116966274","https://openalex.org/W2122103162","https://openalex.org/W2125703689","https://openalex.org/W2129409588","https://openalex.org/W2131146434","https://openalex.org/W2133457596","https://openalex.org/W2141467438","https://openalex.org/W2149863006","https://openalex.org/W2153036769","https://openalex.org/W2157070627","https://openalex.org/W2157805061","https://openalex.org/W2166138517","https://openalex.org/W2167326590","https://openalex.org/W2169033759","https://openalex.org/W2170903322","https://openalex.org/W2545279342","https://openalex.org/W3114284325","https://openalex.org/W4210569629","https://openalex.org/W6601906471","https://openalex.org/W6604328969","https://openalex.org/W6788119825"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2175869054","https://openalex.org/W2724299411","https://openalex.org/W2164234705","https://openalex.org/W2175714038"],"abstract_inverted_index":{"Wheeled":[0],"tour":[1,19,35,80],"guide":[2,20,36,81],"robots":[3,21],"have":[4,112,139],"already":[5],"been":[6,113],"deployed":[7],"in":[8,143],"various":[9],"museums":[10],"or":[11],"fairs":[12],"worldwide.":[13],"A":[14],"key":[15],"requirement":[16],"for":[17,62,98],"successful":[18],"is":[22],"to":[23,28,118],"interact":[24],"with":[25,50,128,148],"people":[26,125],"and":[27,69,87,90,102,115],"entertain":[29],"them.":[30],"Most":[31],"of":[32,95,110],"the":[33,42,55,93,119,124,129,149],"previous":[34,132],"robots,":[37,53],"however,":[38],"focused":[39],"more":[40],"on":[41,47,54],"involved":[43],"navigation":[44,100],"task":[45],"than":[46],"natural":[48],"interaction":[49,66,108],"humans.":[51],"Humanoid":[52],"other":[56],"hand,":[57],"offer":[58],"a":[59],"great":[60],"potential":[61],"investigating":[63],"intuitive,":[64],"multimodal":[65,107],"between":[67],"humans":[68],"machines.":[70],"In":[71],"this":[72],"paper,":[73],"we":[74,138],"present":[75,136],"our":[76],"mobile":[77],"full-body":[78],"humanoid":[79],"robot":[82,130],"Robotinho.":[83],"We":[84,135],"provide":[85],"mechanical":[86],"electrical":[88],"details":[89],"cover":[91],"perception,":[92],"integration":[94,104],"multiple":[96],"modalities":[97],"interaction,":[99],"control,":[101],"system":[103],"aspects.":[105],"The":[106],"capabilities":[109],"Robotinho":[111],"designed":[114],"enhanced":[116],"according":[117],"questionnaires":[120],"filled":[121],"out":[122],"by":[123],"who":[126],"interacted":[127,147],"at":[131],"public":[133],"demonstrations.":[134],"experiences":[137],"made":[140],"during":[141],"experiments":[142],"which":[144],"untrained":[145],"users":[146],"robot.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":14}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}