{"id":"https://openalex.org/W2162000109","doi":"https://doi.org/10.1007/s10514-013-9365-9","title":"An autonomous manipulation system based on force control and optimization","display_name":"An autonomous manipulation system based on force control and optimization","publication_year":2013,"publication_date":"2013-09-06","ids":{"openalex":"https://openalex.org/W2162000109","doi":"https://doi.org/10.1007/s10514-013-9365-9","mag":"2162000109"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-013-9365-9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-013-9365-9","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-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/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Autonomous Motion Department, Max-Planck-Institute for Intelligent Systems, Paul-Ehrlich-Str. 15, 72076, T\u00fcbingen, Germany","Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max-Planck-Institute for Intelligent Systems, Paul-Ehrlich-Str. 15, 72076, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080415080","display_name":"Mrinal Kalakrishnan","orcid":"https://orcid.org/0000-0003-4292-9857"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mrinal Kalakrishnan","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103760848","display_name":"Peter P\u00e1stor","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Pastor","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113786873","display_name":"Jonathan Binney","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Binney","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001210516","display_name":"Jonathan Kelly","orcid":"https://orcid.org/0000-0002-5528-6136"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jonathan Kelly","raw_affiliation_strings":["Institute for Aerospace Studies, University of Toronto, Toronto, ON, M3H 5T6, Canada"],"affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies, University of Toronto, Toronto, ON, M3H 5T6, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043564317","display_name":"Randolph C. Voorhies","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Randolph C. Voorhies","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077367921","display_name":"Gaurav S. Sukhatme","orcid":"https://orcid.org/0000-0003-2408-474X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gaurav S. Sukhatme","raw_affiliation_strings":["Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029642293","display_name":"Stefan Schaal","orcid":"https://orcid.org/0000-0001-5660-1874"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Autonomous Motion Department, Max-Planck-Institute for Intelligent Systems, Paul-Ehrlich-Str. 15, 72076, T\u00fcbingen, Germany","Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max-Planck-Institute for Intelligent Systems, Paul-Ehrlich-Str. 15, 72076, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Computer Science Department, University of Southern California, Los Angeles, CA, 90089, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5026007843"],"corresponding_institution_ids":["https://openalex.org/I1174212","https://openalex.org/I4210135521"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":15.2577,"has_fulltext":false,"cited_by_count":78,"citation_normalized_percentile":{"value":0.99080254,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"36","issue":"1-2","first_page":"11","last_page":"30"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9944000244140625,"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"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9878000020980835,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8822685480117798},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6869124174118042},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5149381756782532},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.41594821214675903},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4006689786911011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3258160352706909}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8822685480117798},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6869124174118042},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5149381756782532},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.41594821214675903},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4006689786911011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3258160352706909},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-013-9365-9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-013-9365-9","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:escidoc.org:escidoc:1900040","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0015-7FDB-2","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W92914038","https://openalex.org/W143844323","https://openalex.org/W167985534","https://openalex.org/W620340679","https://openalex.org/W639693478","https://openalex.org/W1249953932","https://openalex.org/W1510186039","https://openalex.org/W1560270123","https://openalex.org/W1820657498","https://openalex.org/W1963549352","https://openalex.org/W1966747088","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1978131383","https://openalex.org/W1980602022","https://openalex.org/W1993282304","https://openalex.org/W1994648061","https://openalex.org/W1996359004","https://openalex.org/W2006010000","https://openalex.org/W2014014888","https://openalex.org/W2015034312","https://openalex.org/W2016958754","https://openalex.org/W2019965290","https://openalex.org/W2034052310","https://openalex.org/W2036096913","https://openalex.org/W2042408133","https://openalex.org/W2056518977","https://openalex.org/W2064878003","https://openalex.org/W2069361969","https://openalex.org/W2079315820","https://openalex.org/W2079716332","https://openalex.org/W2085949256","https://openalex.org/W2087103175","https://openalex.org/W2088942244","https://openalex.org/W2099893201","https://openalex.org/W2100235553","https://openalex.org/W2112645080","https://openalex.org/W2113260111","https://openalex.org/W2117571644","https://openalex.org/W2123967136","https://openalex.org/W2125880285","https://openalex.org/W2128677288","https://openalex.org/W2133443903","https://openalex.org/W2135639338","https://openalex.org/W2135677376","https://openalex.org/W2136354320","https://openalex.org/W2141103690","https://openalex.org/W2144908914","https://openalex.org/W2151165286","https://openalex.org/W2151992157","https://openalex.org/W2156047221","https://openalex.org/W2160609165","https://openalex.org/W2164032318","https://openalex.org/W2165603175","https://openalex.org/W2166042980","https://openalex.org/W2166211466","https://openalex.org/W2172158418","https://openalex.org/W2172968643","https://openalex.org/W2294748366","https://openalex.org/W2323447981","https://openalex.org/W2540104143","https://openalex.org/W2544492735","https://openalex.org/W2901136733","https://openalex.org/W3112422759","https://openalex.org/W4205362845","https://openalex.org/W6756486208","https://openalex.org/W6787597433","https://openalex.org/W6826993205"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W4281727072","https://openalex.org/W2560201613","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W1532073221","https://openalex.org/W2377538627","https://openalex.org/W2107220315","https://openalex.org/W1589637664"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}