{"id":"https:\/\/openalex.org\/W1967411666","doi":"https:\/\/doi.org\/10.1109\/humanoids.2012.6651522","title":"Folding paper with anthropomorphic robot hands using real-time physics-based modeling","display_name":"Folding paper with anthropomorphic robot hands using real-time physics-based modeling","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https:\/\/openalex.org\/W1967411666","doi":"https:\/\/doi.org\/10.1109\/humanoids.2012.6651522","mag":"1967411666"},"language":"en","primary_location":{"id":"doi:10.1109\/humanoids.2012.6651522","is_oa":false,"landing_page_url":"https:\/\/doi.org\/10.1109\/humanoids.2012.6651522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https:\/\/pub.uni-bielefeld.de\/record\/2546877","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https:\/\/openalex.org\/A5067790013","display_name":"Christof Elbrechter","orcid":null},"institutions":[{"id":"https:\/\/openalex.org\/I20121455","display_name":"Bielefeld University","ror":"https:\/\/ror.org\/02hpadn98","country_code":"DE","type":"education","lineage":["https:\/\/openalex.org\/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christof Elbrechter","raw_affiliation_strings":["Neuroinformatics Group at Bielefeld University, Germany","Neuroinf. Group at Bielefeld Univ., Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group at Bielefeld University, Germany","institution_ids":["https:\/\/openalex.org\/I20121455"]},{"raw_affiliation_string":"Neuroinf. Group at Bielefeld Univ., Bielefeld, Germany","institution_ids":["https:\/\/openalex.org\/I20121455"]}]},{"author_position":"middle","author":{"id":"https:\/\/openalex.org\/A5044067164","display_name":"Robert Haschke","orcid":"https:\/\/orcid.org\/0000-0001-5842-9991"},"institutions":[{"id":"https:\/\/openalex.org\/I20121455","display_name":"Bielefeld University","ror":"https:\/\/ror.org\/02hpadn98","country_code":"DE","type":"education","lineage":["https:\/\/openalex.org\/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Haschke","raw_affiliation_strings":["Neuroinformatics Group at Bielefeld University, Germany","Neuroinf. Group at Bielefeld Univ., Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group at Bielefeld University, Germany","institution_ids":["https:\/\/openalex.org\/I20121455"]},{"raw_affiliation_string":"Neuroinf. Group at Bielefeld Univ., Bielefeld, Germany","institution_ids":["https:\/\/openalex.org\/I20121455"]}]},{"author_position":"last","author":{"id":"https:\/\/openalex.org\/A5074989840","display_name":"Helge Ritter","orcid":"https:\/\/orcid.org\/0000-0003-1703-1906"},"institutions":[{"id":"https:\/\/openalex.org\/I20121455","display_name":"Bielefeld University","ror":"https:\/\/ror.org\/02hpadn98","country_code":"DE","type":"education","lineage":["https:\/\/openalex.org\/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Helge Ritter","raw_affiliation_strings":["Neuroinformatics Group at Bielefeld University, Germany","Neuroinf. Group at Bielefeld Univ., Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Neuroinformatics Group at Bielefeld University, Germany","institution_ids":["https:\/\/openalex.org\/I20121455"]},{"raw_affiliation_string":"Neuroinf. Group at Bielefeld Univ., Bielefeld, Germany","institution_ids":["https:\/\/openalex.org\/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https:\/\/openalex.org\/A5067790013"],"corresponding_institution_ids":["https:\/\/openalex.org\/I20121455"],"apc_list":null,"apc_paid":null,"fwci":1.6662,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.84942093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"210","last_page":"215"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https:\/\/openalex.org\/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"subfield":{"id":"https:\/\/openalex.org\/subfields\/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https:\/\/openalex.org\/fields\/17","display_name":"Computer Science"},"domain":{"id":"https:\/\/openalex.org\/domains\/3","display_name":"Physical Sciences"}},"topics":[{"id":"https:\/\/openalex.org\/T10586","display_name":"Robotic Path Planning Algorithms","score":0.998199999332428,"subfield":{"id":"https:\/\/openalex.org\/subfields\/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https:\/\/openalex.org\/fields\/17","display_name":"Computer Science"},"domain":{"id":"https:\/\/openalex.org\/domains\/3","display_name":"Physical Sciences"}},{"id":"https:\/\/openalex.org\/T10533","display_name":"Teaching and Learning Programming","score":0.9959999918937683,"subfield":{"id":"https:\/\/openalex.org\/subfields\/1706","display_name":"Computer Science Applications"},"field":{"id":"https:\/\/openalex.org\/fields\/17","display_name":"Computer Science"},"domain":{"id":"https:\/\/openalex.org\/domains\/3","display_name":"Physical Sciences"}},{"id":"https:\/\/openalex.org\/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944999814033508,"subfield":{"id":"https:\/\/openalex.org\/subfields\/2202","display_name":"Aerospace 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\/robot","display_name":"Robot","score":0.615129828453064},{"id":"https:\/\/openalex.org\/keywords\/computer-science","display_name":"Computer science","score":0.6132673025131226},{"id":"https:\/\/openalex.org\/keywords\/folding","display_name":"Folding (DSP implementation)","score":0.5685977935791016},{"id":"https:\/\/openalex.org\/keywords\/computer-graphics","display_name":"Computer graphics (images)","score":0.3588428497314453},{"id":"https:\/\/openalex.org\/keywords\/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3292653560638428},{"id":"https:\/\/openalex.org\/keywords\/artificial-intelligence","display_name":"Artificial intelligence","score":0.2954925298690796},{"id":"https:\/\/openalex.org\/keywords\/mechanical-engineering","display_name":"Mechanical engineering","score":0.22152185440063477},{"id":"https:\/\/openalex.org\/keywords\/engineering","display_name":"Engineering","score":0.19862186908721924}],"concepts":[{"id":"https:\/\/openalex.org\/C90509273","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q11012","display_name":"Robot","level":2,"score":0.615129828453064},{"id":"https:\/\/openalex.org\/C41008148","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q21198","display_name":"Computer science","level":0,"score":0.6132673025131226},{"id":"https:\/\/openalex.org\/C2776545253","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.5685977935791016},{"id":"https:\/\/openalex.org\/C121684516","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3588428497314453},{"id":"https:\/\/openalex.org\/C107457646","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3292653560638428},{"id":"https:\/\/openalex.org\/C154945302","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2954925298690796},{"id":"https:\/\/openalex.org\/C78519656","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q101333","display_name":"Mechanical engineering","level":1,"score":0.22152185440063477},{"id":"https:\/\/openalex.org\/C127413603","wikidata":"https:\/\/www.wikidata.org\/wiki\/Q11023","display_name":"Engineering","level":0,"score":0.19862186908721924}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109\/humanoids.2012.6651522","is_oa":false,"landing_page_url":"https:\/\/doi.org\/10.1109\/humanoids.2012.6651522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:pub.librecat.org:2546877","is_oa":true,"landing_page_url":"https:\/\/pub.uni-bielefeld.de\/record\/2546877","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":"other-oa","license_id":"https:\/\/openalex.org\/licenses\/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Elbrechter C, Haschke R, Ritter H. Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling. Presented at the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan.","raw_type":"info:eu-repo\/semantics\/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:pub.librecat.org:2546877","is_oa":true,"landing_page_url":"https:\/\/pub.uni-bielefeld.de\/record\/2546877","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":"other-oa","license_id":"https:\/\/openalex.org\/licenses\/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Elbrechter C, Haschke R, Ritter H. Folding Paper with Anthropomorphic Robot Hands using Real-Time Physics-Based Modeling. Presented at the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan.","raw_type":"info:eu-repo\/semantics\/conferenceObject"},"sustainable_development_goals":[{"id":"https:\/\/metadata.un.org\/sdg\/8","display_name":"Decent work and economic growth","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https:\/\/openalex.org\/W309815919","https:\/\/openalex.org\/W1527127121","https:\/\/openalex.org\/W1980446475","https:\/\/openalex.org\/W2008835240","https:\/\/openalex.org\/W2012804547","https:\/\/openalex.org\/W2052887511","https:\/\/openalex.org\/W2071778994","https:\/\/openalex.org\/W2089630413","https:\/\/openalex.org\/W2098964553","https:\/\/openalex.org\/W2119605622","https:\/\/openalex.org\/W2132079375","https:\/\/openalex.org\/W2132634958","https:\/\/openalex.org\/W2164139712","https:\/\/openalex.org\/W2170090372","https:\/\/openalex.org\/W2483471759","https:\/\/openalex.org\/W2729161127","https:\/\/openalex.org\/W3139957176","https:\/\/openalex.org\/W3143686981","https:\/\/openalex.org\/W3145356268","https:\/\/openalex.org\/W4211026424","https:\/\/openalex.org\/W4237424379","https:\/\/openalex.org\/W6610657205"],"related_works":["https:\/\/openalex.org\/W2748952813","https:\/\/openalex.org\/W2390279801","https:\/\/openalex.org\/W2358668433","https:\/\/openalex.org\/W2376932109","https:\/\/openalex.org\/W2001405890","https:\/\/openalex.org\/W2382290278","https:\/\/openalex.org\/W2478288626","https:\/\/openalex.org\/W2350741829","https:\/\/openalex.org\/W2530322880","https:\/\/openalex.org\/W1596801655"],"abstract_inverted_index":{"The":[0,88,119],"ability":[1],"to":[2,15,24,85,116,127],"manipulate":[3],"deformable":[4],"objects,":[5],"such":[6],"as":[7,66,68],"textiles":[8],"or":[9],"paper,":[10,39,107,129],"is":[11,131],"a":[12,43,104,135],"major":[13],"prerequisite":[14],"bringing":[16],"the":[17,25,36,64,101],"capabilities":[18],"of":[19,27,38,63,103,106,137],"articulated":[20],"robot":[21,55,71,126],"hands":[22],"closer":[23],"level":[26],"manual":[28],"intelligence":[29],"exhibited":[30],"by":[31,133],"humans.":[32],"We":[33],"concentrate":[34],"on":[35],"manipulation":[37],"which":[40,113],"affords":[41],"us":[42,115],"rich":[44],"interaction":[45],"domain":[46],"that":[47],"has":[48],"not":[49,98],"yet":[50],"been":[51],"solved":[52],"for":[53,76],"anthropomorphic":[54,125],"hands.":[56],"Robust":[57],"tracking":[58],"and":[59,93,130,139],"physically":[60],"plausible":[61],"modeling":[62,92],"paper":[65,80,110],"well":[67],"feedback":[69],"based":[70],"control":[72],"are":[73],"crucial":[74],"components":[75],"this":[77,86],"task.":[78],"This":[79],"makes":[81],"two":[82],"novel":[83],"contributions":[84],"area.":[87],"first":[89],"concerns":[90,122],"real-time":[91],"visual":[94],"tracking.":[95],"Our":[96],"technique":[97],"only":[99],"models":[100],"bending":[102],"sheet":[105],"but":[108],"also":[109],"crease":[111],"lines":[112],"allows":[114],"monitor":[117],"deformations.":[118],"second":[120],"contribution":[121],"enabling":[123],"an":[124],"fold":[128],"accomplished":[132],"introducing":[134],"set":[136],"tactile-":[138],"vision-based":[140],"closed":[141],"loop":[142],"controllers.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}