{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T07:04:41Z","timestamp":1778310281467,"version":"3.51.4"},"reference-count":63,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2005,1,1]],"date-time":"2005-01-01T00:00:00Z","timestamp":1104537600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2005,1]]},"abstract":"<jats:p>\n                    <jats:italic toggle=\"yes\">Previous research has shown that the execution of contact tasks under                     uncertainty benefits from on-line estimation of the geometrical contact                     parameters, such as positions, orientations and dimensions of the contacting                     objects. However, the constant translational and rotational velocities commonly                     used to trigger the contact formation (CF) transitions are often not                     sufficiently exciting to estimate all geometrical parameters. In this paper, we                     focus on the calculation of a fine-motion task plan, which improves the                     observation of inaccurately known geometrical parameters. This is called active sensing.<\/jats:italic>\n                  <\/jats:p>\n                  <jats:p>\n                    <jats:italic toggle=\"yes\">Our approach to active sensing is to optimize the task plan (i) by minimizing an                     objective function, such as the expected execution time, which is an important                     criterion in industrial applications, and (ii) by constraining the task plans to                     plans which observe the geometrical parameter estimates to the required accuracy.<\/jats:italic>\n                  <\/jats:p>\n                  <jats:p>\n                    <jats:italic toggle=\"yes\">Active sensing for compliant motion is a new research area. Hence, this paper                     primarily aims at formulating the active sensing problem and decoupling it into                     smaller optimization problems. The main contributions of this paper are (i) the                     definition of the CF-observable parameter space, which allows us to decouple the                     active sensing requirement for the task plan into a requirement for the CF                     sequence and requirements for the active sensing motions in each CF, and (ii)                     the description of practical (suboptimal) solutions and heuristics, making                     on-line replanning feasible.<\/jats:italic>\n                  <\/jats:p>","DOI":"10.1177\/0278364904050079","type":"journal-article","created":{"date-parts":[[2005,1,26]],"date-time":"2005-01-26T07:28:38Z","timestamp":1106724518000},"page":"61-81","source":"Crossref","is-referenced-by-count":19,"title":["Task Planning With Active Sensing For Autonomous Compliant Motion"],"prefix":"10.1177","volume":"24","author":[{"given":"Tine","family":"Lefebvre","sequence":"first","affiliation":[{"name":"Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Herman","family":"Bruyninckx","sequence":"additional","affiliation":[{"name":"Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joris","family":"De Schutter","sequence":"additional","affiliation":[{"name":"Katholieke Universiteit Leuven, Department of Mechanical Engineering,                         Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2005,1]]},"reference":[{"key":"e_1_2_1_1_1","unstructured":"Arnold V. 1980. 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