{"id":"https://openalex.org/W7124954275","doi":"https://doi.org/10.1109/access.2026.3655617","title":"Framework for Robot Door Opening Based on Visual, Force, and Tactile Integration","display_name":"Framework for Robot Door Opening Based on Visual, Force, and Tactile Integration","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7124954275","doi":"https://doi.org/10.1109/access.2026.3655617"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3655617","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3655617","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2026.3655617","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064316011","display_name":"Valentin \u0160imundi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I51314090","display_name":"University of Osijek","ror":"https://ror.org/05sw4wc49","country_code":"HR","type":"education","lineage":["https://openalex.org/I51314090"]}],"countries":["HR"],"is_corresponding":true,"raw_author_name":"Valentin \u0160imundi\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Josip Juraj Strossmayer University of Osijek, Osijek, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Josip Juraj Strossmayer University of Osijek, Osijek, Croatia","institution_ids":["https://openalex.org/I51314090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123412303","display_name":"Luka Petrovi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I181343428","display_name":"University of Zagreb","ror":"https://ror.org/00mv6sv71","country_code":"HR","type":"education","lineage":["https://openalex.org/I181343428"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Luka Petrovi\u0107","raw_affiliation_strings":["Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Computing, Laboratory for Autonomous Systems and Mobile Robotics, University of Zagreb, Zagreb, Croatia","institution_ids":["https://openalex.org/I181343428"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013629548","display_name":"Matej D\u017eijan","orcid":null},"institutions":[{"id":"https://openalex.org/I51314090","display_name":"University of Osijek","ror":"https://ror.org/05sw4wc49","country_code":"HR","type":"education","lineage":["https://openalex.org/I51314090"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Matej D\u017eijan","raw_affiliation_strings":["Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Josip Juraj Strossmayer University of Osijek, Osijek, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Josip Juraj Strossmayer University of Osijek, Osijek, Croatia","institution_ids":["https://openalex.org/I51314090"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5123382921","display_name":"Robert Cupec","orcid":null},"institutions":[{"id":"https://openalex.org/I51314090","display_name":"University of Osijek","ror":"https://ror.org/05sw4wc49","country_code":"HR","type":"education","lineage":["https://openalex.org/I51314090"]}],"countries":["HR"],"is_corresponding":false,"raw_author_name":"Robert Cupec","raw_affiliation_strings":["Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Josip Juraj Strossmayer University of Osijek, Osijek, Croatia"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Josip Juraj Strossmayer University of Osijek, Osijek, Croatia","institution_ids":["https://openalex.org/I51314090"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064316011"],"corresponding_institution_ids":["https://openalex.org/I51314090"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14585353,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"11110","last_page":"11128"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8274999856948853,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.8274999856948853,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.06440000236034393,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.019600000232458115,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7311999797821045},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.7311000227928162},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6811000108718872},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6043000221252441},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5561000108718872},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4408999979496002},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.40389999747276306},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3589000105857849},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.34619998931884766}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7311999797821045},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.7311000227928162},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7053999900817871},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6811000108718872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6305999755859375},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6043000221252441},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5877000093460083},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5561000108718872},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4408999979496002},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.40389999747276306},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.34619998931884766},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3361999988555908},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3294999897480011},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.3116999864578247},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.30720001459121704},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.303600013256073},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.29339998960494995},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.2888000011444092},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28870001435279846},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.26899999380111694},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26669999957084656},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3655617","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3655617","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:repozitorij.fer.unizg.hr:fer_14502","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S7407055106","display_name":"FER Repository","issn_l":null,"issn":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access (ISSN 2169-3536), vol. 14","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3655617","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3655617","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2642755986","display_name":null,"funder_award_id":"DOK-2021-02-3889","funder_id":"https://openalex.org/F4320322674","funder_display_name":"Hrvatska Zaklada za Znanost"}],"funders":[{"id":"https://openalex.org/F4320322674","display_name":"Hrvatska Zaklada za Znanost","ror":"https://ror.org/03n51vw80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1608504125","https://openalex.org/W2002392973","https://openalex.org/W2004139909","https://openalex.org/W2041094000","https://openalex.org/W2793630860","https://openalex.org/W2890290306","https://openalex.org/W4285102244","https://openalex.org/W4285102554","https://openalex.org/W4383108521","https://openalex.org/W4383108657","https://openalex.org/W4383108935","https://openalex.org/W4387623807","https://openalex.org/W4388624020","https://openalex.org/W4389667817","https://openalex.org/W4400859419","https://openalex.org/W4403677337","https://openalex.org/W4405528343","https://openalex.org/W4405785980","https://openalex.org/W4408061876","https://openalex.org/W4412605617","https://openalex.org/W4412610853","https://openalex.org/W4413925033","https://openalex.org/W4413925184","https://openalex.org/W4414407350","https://openalex.org/W4416750229"],"related_works":[],"abstract_inverted_index":{"A":[0],"large":[1],"number":[2],"of":[3,43,83,150],"robotic":[4],"systems":[5],"rely":[6],"on":[7,17,157],"visual":[8],"perception":[9],"to":[10,21,94,115,132],"interpret":[11],"their":[12],"environment.":[13],"However,":[14],"depending":[15],"solely":[16],"vision":[18],"can":[19],"lead":[20],"failures":[22],"in":[23,40,51,63,144],"manipulation":[24,71],"tasks,":[25],"particularly":[26],"with":[27,166],"constrained":[28],"objects":[29],"such":[30],"as":[31],"cabinet":[32,85],"doors.":[33],"While":[34],"previous":[35],"research":[36],"investigated":[37],"failure":[38,99],"recovery":[39],"the":[41,65,68,126,130,141],"context":[42],"handled":[44],"doors,":[45],"handleless":[46,84],"furniture":[47],"is":[48],"becoming":[49],"common":[50],"modern":[52],"households":[53],"and":[54,91,97,153,173],"introduces":[55],"new":[56],"challenges":[57],"that":[58,87,108],"stem":[59],"from":[60,111],"narrow":[61],"gaps":[62],"which":[64],"robot":[66,113,131,160],"inserts":[67],"gripper":[69],"for":[70,80,124],"tasks.":[72],"To":[73],"address":[74],"this,":[75],"we":[76],"propose":[77],"a":[78,104,134,158,162,167,170,174],"framework":[79,102],"autonomous":[81],"opening":[82],"doors":[86],"integrates":[88],"visual,":[89],"force,":[90],"tactile":[92,175],"sensing":[93],"enhance":[95],"robustness":[96],"enable":[98],"recovery.":[100],"The":[101],"features":[103],"novel":[105],"correction":[106,142],"method":[107,143],"utilizes":[109],"information":[110],"unsuccessful":[112],"actions":[114],"correct":[116],"camera":[117],"parameters.":[118],"These":[119],"corrected":[120],"parameters":[121,152],"are":[122],"used":[123],"updating":[125],"environment":[127],"model,":[128],"enabling":[129],"replan":[133],"more":[135],"reliable":[136],"door-opening":[137],"trajectory.":[138],"We":[139],"evaluate":[140],"simulation":[145],"through":[146],"an":[147],"ablation":[148],"study":[149],"key":[151],"validate":[154],"its":[155],"performance":[156],"real-world":[159],"using":[161],"UR5":[163],"arm":[164],"equipped":[165],"3D":[168],"camera,":[169],"force-torque":[171],"sensor,":[172],"sensor.":[176]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-01-21T00:00:00"}