{"id":"https://openalex.org/W2071371322","doi":"https://doi.org/10.1109/humanoids.2014.7041484","title":"Compensation for tactile hysteresis using Gaussian process with sensory Markov property","display_name":"Compensation for tactile hysteresis using Gaussian process with sensory Markov property","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2071371322","doi":"https://doi.org/10.1109/humanoids.2014.7041484","mag":"2071371322"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5031377124","display_name":"Takato Horii","orcid":"https://orcid.org/0000-0001-5374-0887"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takato Horii","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067742588","display_name":"Yukie Nagai","orcid":"https://orcid.org/0000-0003-4794-0940"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukie Nagai","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"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":"Lorenzo Natale","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","iCub Facility, Fondazione Istituto Italiano di Tecnolog\u00eda, via Morego 30, Genova 16163, Italy"],"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnolog\u00eda, via Morego 30, Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058904074","display_name":"Francesco Giovannini","orcid":"https://orcid.org/0000-0002-1435-0314"},"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":"Francesco Giovannini","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","iCub Facility, Fondazione Istituto Italiano di Tecnolog\u00eda, via Morego 30, Genova 16163, Italy"],"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnolog\u00eda, via Morego 30, Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"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":"Giorgio Metta","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","iCub Facility, Fondazione Istituto Italiano di Tecnolog\u00eda, via Morego 30, Genova 16163, Italy"],"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnolog\u00eda, via Morego 30, Genova 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044985800","display_name":"Minoru Asada","orcid":"https://orcid.org/0000-0001-9506-6333"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Minoru Asada","raw_affiliation_strings":["Graduate School of Engineering, Osaka University, Osaka, Japan","Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5031377124"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.1567,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.5232899,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"102","issue":null,"first_page":"993","last_page":"998"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9552000164985657,"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"}},"topics":[{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9552000164985657,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9405999779701233,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9300000071525574,"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/computer-science","display_name":"Computer science","score":0.6433145999908447},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6237455606460571},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5693410634994507},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5597436428070068},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.5331679582595825},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5122103095054626},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.5059663653373718},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.4987339973449707},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.4671788811683655},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.41446900367736816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39787331223487854},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3838140666484833},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.32856687903404236},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32560640573501587},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28552424907684326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26622816920280457},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2257859706878662},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09540113806724548},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07500138878822327},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06665271520614624}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6433145999908447},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6237455606460571},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5693410634994507},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5597436428070068},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.5331679582595825},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5122103095054626},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.5059663653373718},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.4987339973449707},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.4671788811683655},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.41446900367736816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39787331223487854},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3838140666484833},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32856687903404236},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32560640573501587},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28552424907684326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26622816920280457},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2257859706878662},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09540113806724548},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07500138878822327},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06665271520614624},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2014.7041484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.714.1125","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.714.1125","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://cnr.ams.eng.osaka-u.ac.jp/%7Eyukie/Publications/Horii_Humanoids14.pdf","raw_type":"text"},{"id":"pmh:oai:pub.librecat.org:2908931","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2908931","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Horii T, Nagai Y, Natale L, Giovannini F, Metta G, Asada M. Compensation for tactile hysteresis using Gaussian process with sensory Markov property. In:  <em>14th {IEEE-RAS} International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, November 18-20, 2014</em>. 2014: 993--998.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.46000000834465027,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1508147193","https://openalex.org/W1746819321","https://openalex.org/W1976875899","https://openalex.org/W2037461330","https://openalex.org/W2044761295","https://openalex.org/W2124609748","https://openalex.org/W2132496907","https://openalex.org/W2170519810","https://openalex.org/W2171130677","https://openalex.org/W3183822261","https://openalex.org/W4211049957"],"related_works":["https://openalex.org/W2364370872","https://openalex.org/W2053269318","https://openalex.org/W2025614924","https://openalex.org/W2294335174","https://openalex.org/W2097963413","https://openalex.org/W3145575561","https://openalex.org/W2001275470","https://openalex.org/W2073996508","https://openalex.org/W1591475660","https://openalex.org/W2164162849"],"abstract_inverted_index":{"Flexible":[0],"tactile":[1,25,50,84],"sensors":[2],"have":[3],"been":[4],"studied":[5],"to":[6,9,18,30,68,91,116,186],"enable":[7],"robots":[8],"interact":[10],"with":[11],"objects":[12],"in":[13,114,147],"unstructured":[14],"environments.":[15],"However,":[16],"due":[17],"nonlinearity":[19],"caused":[20],"by":[21],"the":[22,46,70,82,93,96,100,105,111,117,126,136,143,161,164,169,174,179,183,189,192],"hysteresis":[23,47],"of":[24,48,64,73,95,107,138,149,171,182,191,194],"materials,":[26],"it":[27],"is":[28,67],"difficult":[29],"accurately":[31],"convert":[32],"sensor":[33],"signals":[34],"into":[35,129],"task-relevant":[36],"information":[37],"such":[38],"as":[39],"force":[40,108],"and":[41,156,163,178],"slip.":[42],"To":[43],"compensate":[44],"for":[45,173],"flexible":[49],"sensors,":[51],"we":[52],"propose":[53],"a":[54,58],"model":[55,66,78,113,140],"based":[56],"on":[57,99,142],"Gaussian":[59,119,145,184],"process.":[60],"The":[61,76,131],"key":[62],"idea":[63],"our":[65,139],"include":[69],"Markov":[71,127,176],"property":[72,128,177],"sensory":[74,175,195],"input.":[75],"proposed":[77,112],"not":[79,124],"only":[80],"uses":[81],"current":[83,101],"signal,":[85],"but":[86],"also":[87],"its":[88],"time-series":[89],"signals,":[90],"extract":[92],"influence":[94],"past":[97],"states":[98],"state.":[102],"We":[103,167],"evaluate":[104],"accuracy":[106],"estimation":[109],"using":[110],"comparison":[115],"normal":[118,144],"process":[120,146,185],"model,":[121],"which":[122],"does":[123],"take":[125],"account.":[130],"experimental":[132],"results":[133],"demonstrate":[134],"that":[135],"performance":[137],"improves":[141],"terms":[148],"root":[150],"mean":[151],"squared":[152],"error,":[153],"correlation":[154],"coefficient,":[155],"absolute":[157],"maximum":[158],"error":[159],"between":[160],"actual":[162],"estimated":[165],"force.":[166],"discuss":[168],"advantages":[170],"accounting":[172],"potential":[180],"ability":[181],"internally":[187],"acquire":[188],"representation":[190],"deviation":[193],"signals.":[196]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}