{"id":"https://openalex.org/W2149606722","doi":"https://doi.org/10.1109/tro.2011.2134130","title":"Tactile Sensing for Mobile Manipulation","display_name":"Tactile Sensing for Mobile Manipulation","publication_year":2011,"publication_date":"2011-05-10","ids":{"openalex":"https://openalex.org/W2149606722","doi":"https://doi.org/10.1109/tro.2011.2134130","mag":"2149606722"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2011.2134130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2134130","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3435631","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057299610","display_name":"Sachin Chitta","orcid":"https://orcid.org/0000-0003-4859-6096"},"institutions":[{"id":"https://openalex.org/I4210099336","display_name":"Menlo School","ror":"https://ror.org/01240pn49","country_code":"US","type":"education","lineage":["https://openalex.org/I4210099336"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachin Chitta","raw_affiliation_strings":["Garage, Inc., Menlo Park, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Garage, Inc., Menlo Park, CA, USA","institution_ids":["https://openalex.org/I4210099336"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110234358","display_name":"J\u00fcrgen Sturm","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":"J\u00fcrgen Sturm","raw_affiliation_strings":["Autonomous Intelligent Systems Laboratory, Computer Science Department, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Laboratory, Computer Science Department, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023171116","display_name":"Matthew Piccoli","orcid":"https://orcid.org/0000-0001-9449-7094"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Piccoli","raw_affiliation_strings":["Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Grasp Laboratory, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"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":"Wolfram Burgard","raw_affiliation_strings":["Autonomous Intelligent Systems Laboratory, Computer Science Department, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Laboratory, Computer Science Department, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":5.7764,"has_fulltext":false,"cited_by_count":117,"citation_normalized_percentile":{"value":0.96680546,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"27","issue":"3","first_page":"558","last_page":"568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9993000030517578,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9993000030517578,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.8652995824813843},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7918312549591064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7623471617698669},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6883898377418518},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.632568359375},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6090065240859985},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5605139136314392},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.5544247627258301},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5091039538383484},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4946269690990448},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4637255072593689},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4219483733177185},{"id":"https://openalex.org/keywords/container","display_name":"Container (type theory)","score":0.41538718342781067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2983308434486389}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.8652995824813843},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7918312549591064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7623471617698669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6883898377418518},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.632568359375},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6090065240859985},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5605139136314392},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.5544247627258301},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5091039538383484},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4946269690990448},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4637255072593689},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4219483733177185},{"id":"https://openalex.org/C2781018962","wikidata":"https://www.wikidata.org/wiki/Q5164884","display_name":"Container (type theory)","level":2,"score":0.41538718342781067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2983308434486389},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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":2,"locations":[{"id":"doi:10.1109/tro.2011.2134130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2011.2134130","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:3435631","is_oa":true,"landing_page_url":"https://zenodo.org/record/3435631","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3435631","is_oa":true,"landing_page_url":"https://zenodo.org/record/3435631","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320322379","display_name":"Gottfried Wilhelm Leibniz Universit\u00e4t Hannover","ror":"https://ror.org/0304hq317"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W24579009","https://openalex.org/W1506806321","https://openalex.org/W1570448133","https://openalex.org/W1607516026","https://openalex.org/W1663973292","https://openalex.org/W1985428381","https://openalex.org/W2013366385","https://openalex.org/W2041437888","https://openalex.org/W2045448547","https://openalex.org/W2046565838","https://openalex.org/W2058444317","https://openalex.org/W2074936002","https://openalex.org/W2086158231","https://openalex.org/W2103241293","https://openalex.org/W2105300774","https://openalex.org/W2119356874","https://openalex.org/W2131415636","https://openalex.org/W2132496907","https://openalex.org/W2138398778","https://openalex.org/W2138648596","https://openalex.org/W2142006360","https://openalex.org/W2150540137","https://openalex.org/W2161255630","https://openalex.org/W2163823821","https://openalex.org/W2171130677","https://openalex.org/W2314665706","https://openalex.org/W6653514367"],"related_works":["https://openalex.org/W2659967915","https://openalex.org/W2968697781","https://openalex.org/W4280558152","https://openalex.org/W3044219292","https://openalex.org/W1572125920","https://openalex.org/W2397232755","https://openalex.org/W2497263329","https://openalex.org/W2466077980","https://openalex.org/W3160703663","https://openalex.org/W4386095487"],"abstract_inverted_index":{"Tactile":[0],"information":[1,77,137],"is":[2,160],"valuable":[3],"in":[4,32,135,148],"determining":[5],"properties":[6],"of":[7,40,81,101,154,179,187],"objects":[8],"that":[9,24,53,89,158,186],"are":[10],"inaccessible":[11],"from":[12,105,117,125],"visual":[13],"perception.":[14],"In":[15],"this":[16,159],"paper,":[17],"we":[18,87,165],"present":[19],"a":[20,26,37,49,90,108,145,161,168],"tactile":[21,30,41,106,136],"perception":[22],"strategy":[23],"allows":[25],"mobile":[27],"robot":[28,73,91,113],"with":[29,171,185],"sensors":[31],"its":[33,64],"gripper":[34],"to":[35,96,141,150],"measure":[36],"generic":[38],"set":[39],"features":[42,95],"while":[43],"manipulating":[44],"an":[45,55,85],"object.":[46,83],"We":[47,128],"propose":[48],"switching":[50],"velocity-force":[51],"controller":[52],"grasps":[54],"object":[56],"safely":[57],"and":[58,103,120,122],"reveals,":[59],"at":[60],"the":[61,70,72,79,82,98,132,152,180,188],"same":[62],"time,":[63],"deformation":[65],"properties.":[66],"By":[67],"gently":[68],"rolling":[69],"object,":[71],"can":[74,92,114,138],"extract":[75],"additional":[76],"about":[78],"contents":[80],"As":[84],"application,":[86],"show":[88,130],"use":[93],"these":[94],"distinguish":[97,115],"internal":[99],"state":[100],"bottles":[102,119],"cans-purely":[104],"sensing-from":[107],"small":[109],"training":[110],"set.":[111],"The":[112,176],"open":[116],"closed":[118],"cans":[121],"full":[123],"ones":[124],"empty":[126],"ones.":[127],"also":[129,166],"how":[131],"high-frequency":[133],"component":[134],"be":[139],"used":[140],"detect":[142,151],"movement":[143],"inside":[144],"container,":[146],"e.g.,":[147],"order":[149],"presence":[153],"liquid.":[155],"To":[156],"prove":[157],"hard":[162],"recognition":[163,177],"problem,":[164],"conducted":[167],"comparative":[169],"study":[170],"17":[172],"human":[173,181],"test":[174],"subjects.":[175],"rates":[178],"subjects":[182],"were":[183],"comparable":[184],"robot.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":8}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
