{"id":"https://openalex.org/W1994688490","doi":"https://doi.org/10.1109/21.3469","title":"Differential surface models for tactile perception of shape and online tracking of features","display_name":"Differential surface models for tactile perception of shape and online tracking of features","publication_year":1988,"publication_date":"1988-03-01","ids":{"openalex":"https://openalex.org/W1994688490","doi":"https://doi.org/10.1109/21.3469","mag":"1994688490"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/21.3469","pdf_url":null,"source":{"id":"https://openalex.org/S76152103","display_name":"IEEE Transactions on Systems Man and Cybernetics","issn_l":"0018-9472","issn":["0018-9472","2168-2909"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5003134681","display_name":"H. Hemami","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H. Hemami","raw_affiliation_strings":["Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA#TAB#","institution_ids":["https://openalex.org/I52357470"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5003134681"],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.735152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":71,"max":73},"biblio":{"volume":"18","issue":"2","first_page":"312","last_page":"316"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9999,"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":0.9999,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9991,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.47479624},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.47445163},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4675167}],"concepts":[{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5853331},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5821558},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5685335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53905714},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5083646},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.48759073},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.47479624},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.47445163},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47286984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47172585},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4675167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34170178},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29438987},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20954502},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15006176},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.117828906},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.102692306},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.093248665},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/21.3469","pdf_url":null,"source":{"id":"https://openalex.org/S76152103","display_name":"IEEE Transactions on Systems Man and Cybernetics","issn_l":"0018-9472","issn":["0018-9472","2168-2909"],"is_oa":false,"is_in_doaj":false,"is_core":false,"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":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":13,"referenced_works":["https://openalex.org/W1977866635","https://openalex.org/W1981154266","https://openalex.org/W1998346775","https://openalex.org/W2004763727","https://openalex.org/W2016958754","https://openalex.org/W2031743255","https://openalex.org/W2050444906","https://openalex.org/W2084631823","https://openalex.org/W2100790457","https://openalex.org/W2803328170","https://openalex.org/W3124058554","https://openalex.org/W4230620014","https://openalex.org/W4298267405"],"related_works":["https://openalex.org/W849590218","https://openalex.org/W4244295168","https://openalex.org/W3185180338","https://openalex.org/W2978007058","https://openalex.org/W2963114044","https://openalex.org/W2789522126","https://openalex.org/W2753351751","https://openalex.org/W2368363778","https://openalex.org/W2066693961","https://openalex.org/W122584421"],"abstract_inverted_index":{"The":[0,44,64,76],"online":[1],"kinematic":[2],"problem":[3],"for":[4,110],"gliding":[5,39],"or":[6,40,57],"rolling":[7,41],"on":[8,42],"an":[9],"unknown":[10,36],"surface":[11,46],"is":[12,26,51],"addressed,":[13],"treating":[14],"it":[15,135],"as":[16,89,91],"a":[17,32],"simple":[18],"two-rigid-body":[19],"problem.":[20],"A":[21],"planar":[22],"rigid-body":[23],"end":[24,49],"effector":[25,50],"considered":[27],"that":[28,80],"maintains":[29],"contact":[30,97],"with":[31],"rigid":[33],"body":[34],"of":[35,47,84,96,107,128,133],"shape":[37],"by":[38],"it.":[43],"smooth":[45],"the":[48,67,82,85,94,104,116,126,131],"assumed":[52],"to":[53,103,113],"be":[54,99,114,123],"known":[55,88],"implicitly":[56],"parametrically":[58],"in":[59,71],"its":[60,92],"own":[61],"coordinate":[62],"system.":[63],"authors":[65],"present":[66],"main":[68],"results":[69],"both":[70],"equation":[72],"form":[73],"and":[74,119,130],"diagrammatically.":[75],"figure":[77],"given":[78],"implies":[79],"if":[81],"parameters":[83],"robot":[86],"are":[87],"well":[90],"state,":[93],"forces":[95],"can":[98],"computed.":[100],"However,":[101],"due":[102],"extensive":[105],"amount":[106],"data":[108],"required":[109,117],"this":[111,138],"condition":[112],"met,":[115],"sensory":[118],"computational":[120],"machinery":[121],"may":[122],"exorbitant.":[124],"Moreover,":[125],"presence":[127],"noise":[129],"cost":[132],"removing":[134],"sufficiently":[136],"make":[137],"approach":[139],"impractical":[140],"at":[141],"present.<":[142],">":[145]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1994688490","counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-01-06T05:20:14.850558","created_date":"2016-06-24"}