{"id":"https://openalex.org/W2991618731","doi":"https://doi.org/10.1177/0278364919888565","title":"Leveraging depth data in remote robot teleoperation interfaces for general object manipulation","display_name":"Leveraging depth data in remote robot teleoperation interfaces for general object manipulation","publication_year":2019,"publication_date":"2019-11-25","ids":{"openalex":"https://openalex.org/W2991618731","doi":"https://doi.org/10.1177/0278364919888565","mag":"2991618731"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364919888565","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919888565","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919888565","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030081726","display_name":"David Kent","orcid":"https://orcid.org/0000-0002-5418-3602"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"David Kent","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075030239","display_name":"Carl Saldanha","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carl Saldanha","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033265891","display_name":"Sonia Chernova","orcid":"https://orcid.org/0000-0001-6320-0825"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sonia Chernova","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5030081726"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":2.574,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.707324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":"39","issue":"1","first_page":"39","last_page":"53"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9996,"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":0.9972,"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/teleoperation","display_name":"Teleoperation","score":0.7408786},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.45998898}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7408786},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.72994655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5711281},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5658515},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5603144},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5601086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5529096},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.53735125},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47970244},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46684465},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.45998898},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42945743},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11197215},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364919888565","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919888565","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1177/0278364919888565","pdf_url":"https://journals.sagepub.com/doi/pdf/10.1177/0278364919888565","source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.79,"display_name":"Peace, justice, and strong institutions"}],"grants":[{"funder":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration","award_id":"NNX16AR59G"},{"funder":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research","award_id":"N000141410795"},{"funder":"https://openalex.org/F4320337389","funder_display_name":"Division of Information and Intelligent Systems","award_id":"13-17775"}],"datasets":[],"versions":[],"referenced_works_count":36,"referenced_works":["https://openalex.org/W1492794416","https://openalex.org/W1898154573","https://openalex.org/W1899217968","https://openalex.org/W1964695965","https://openalex.org/W1969798312","https://openalex.org/W1999156278","https://openalex.org/W2000731220","https://openalex.org/W2004359926","https://openalex.org/W2022637755","https://openalex.org/W2053940671","https://openalex.org/W2074966643","https://openalex.org/W2076931397","https://openalex.org/W2112645080","https://openalex.org/W2122219027","https://openalex.org/W2123435073","https://openalex.org/W2128378943","https://openalex.org/W2135383324","https://openalex.org/W2155691259","https://openalex.org/W2156324385","https://openalex.org/W2157289187","https://openalex.org/W2168676985","https://openalex.org/W2169241897","https://openalex.org/W2201912979","https://openalex.org/W2221907518","https://openalex.org/W2472138074","https://openalex.org/W2586063011","https://openalex.org/W2592007507","https://openalex.org/W2593994643","https://openalex.org/W2600030077","https://openalex.org/W2623741925","https://openalex.org/W2736534894","https://openalex.org/W2953249127","https://openalex.org/W4210700398","https://openalex.org/W4240387454","https://openalex.org/W4253897410","https://openalex.org/W805507278"],"related_works":["https://openalex.org/W4281943815","https://openalex.org/W2770942502","https://openalex.org/W2743859443","https://openalex.org/W2364738582","https://openalex.org/W2163296013","https://openalex.org/W2160982102","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2048862765","https://openalex.org/W1923069992"],"abstract_inverted_index":{"Robust":[0],"remote":[1],"teleoperation":[2],"of":[3,7,14,34,70,104,113,134,143,149,157,171,189,205,218,249],"high-degree-of-freedom":[4],"manipulators":[5],"is":[6],"critical":[8],"importance":[9],"across":[10],"a":[11,23,135,147],"wide":[12],"range":[13],"robotics":[15],"applications.":[16],"Contemporary":[17],"robot":[18],"manipulation":[19,152],"interfaces":[20],"primarily":[21],"utilize":[22],"free":[24,37,120,179],"positioning":[25,48,180,183],"pose":[26,63],"specification":[27,64],"approach":[28,145,160],"to":[29,209],"independently":[30],"control":[31],"each":[32,144,159],"degree":[33],"freedom":[35],"in":[36,102,122,161,227,240],"space.":[38],"In":[39,129,212],"this":[40],"work,":[41],"we":[42,131,214],"present":[43,110,132],"two":[44],"novel":[45,52,78,115],"interfaces,":[46],"constrained":[47,182],"and":[49,125,154,181,192,197,251],"point-and-click.":[50],"Both":[51],"approaches":[53],"incorporate":[54],"scene":[55],"information":[56],"from":[57],"depth":[58,167,262],"data":[59],"into":[60],"the":[61,68,73,98,141,155,187,203,219,222,232],"grasp":[62],"process,":[65],"effectively":[66],"reducing":[67,93,194,202,256],"number":[69,188,204,248],"3D":[71,89,126,166,233],"transformations":[72,95],"user":[74,137,206,252],"must":[75],"input.":[76],"The":[77,169],"interactions":[79,207],"are":[80],"designed":[81],"for":[82,146],"2D":[83,124,162,223],"image":[84,163],"streams,":[85],"rather":[86],"than":[87,231],"traditional":[88],"virtual":[90],"scenes,":[91],"further":[92],"mental":[94],"by":[96,184,260],"eliminating":[97],"controllable":[99],"camera":[100,107],"viewpoint":[101],"favor":[103],"fixed":[105],"physical":[106],"viewpoints.":[108],"We":[109],"interface":[111],"implementations":[112],"our":[114,172],"approaches,":[116],"as":[117,119],"well":[118],"positioning,":[121],"both":[123,178],"visualization":[127,224,234],"modes.":[128],"addition,":[130,213],"results":[133,170],"90-participant":[136],"study":[138,173],"evaluation":[139],"comparing":[140],"effectiveness":[142],"set":[148],"general":[150],"object":[151],"tasks,":[153],"effects":[156],"implementing":[158],"views":[164],"versus":[165],"views.":[168],"show":[174],"that":[175,216],"point-and-click":[176],"outperforms":[177],"significantly":[185,193,201,228],"increasing":[186],"tasks":[190],"completed":[191],"task":[195,241,245],"failures":[196],"grasping":[198,243],"errors,":[199,244],"while":[200,255],"required":[208],"specify":[210],"poses.":[211],"found":[215],"regardless":[217],"interaction":[220],"approach,":[221],"mode":[225],"resulted":[226],"better":[229],"performance":[230],"mode,":[235],"with":[236],"statistically":[237],"significant":[238],"reductions":[239],"failures,":[242],"completion":[246],"time,":[247],"interactions,":[250],"workload,":[253],"all":[254],"bandwidth":[257],"requirements":[258],"imposed":[259],"streaming":[261],"data.":[263]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2991618731","counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2}],"updated_date":"2025-01-18T11:00:27.927111","created_date":"2019-12-05"}