{"id":"https://openalex.org/W4401751555","doi":"https://doi.org/10.1109/aim55361.2024.10637222","title":"A Human-Guided Spherical Robot for the Compliant Grinding of Delicate Workpieces","display_name":"A Human-Guided Spherical Robot for the Compliant Grinding of Delicate Workpieces","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401751555","doi":"https://doi.org/10.1109/aim55361.2024.10637222"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10637222","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"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/A5106356491","display_name":"I-Cheng Hsueh","orcid":null},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"I-Cheng Hsueh","raw_affiliation_strings":["National Cheng Kung University,Department of Mechanical Engineering,Tainan,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Cheng Kung University,Department of Mechanical Engineering,Tainan,Taiwan","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113356899","display_name":"Yi-Hsuan Lan","orcid":null},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Yi-Hsuan Lan","raw_affiliation_strings":["National Cheng Kung University,Department of Mechanical Engineering,Tainan,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Cheng Kung University,Department of Mechanical Engineering,Tainan,Taiwan","institution_ids":["https://openalex.org/I91807558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000335005","display_name":"Chao-Chieh Lan","orcid":"https://orcid.org/0000-0001-8158-9846"},"institutions":[{"id":"https://openalex.org/I91807558","display_name":"National Cheng Kung University","ror":"https://ror.org/01b8kcc49","country_code":"TW","type":"education","lineage":["https://openalex.org/I91807558"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chao-Chieh Lan","raw_affiliation_strings":["National Cheng Kung University,Department of Mechanical Engineering,Tainan,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Cheng Kung University,Department of Mechanical Engineering,Tainan,Taiwan","institution_ids":["https://openalex.org/I91807558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11584482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1014","last_page":"1019"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.996999979019165,"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":0.996999979019165,"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":0.9965000152587891,"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":0.9950000047683716,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grinding","display_name":"Grinding","score":0.8077763915061951},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6355540752410889},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.42529216408729553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39575546979904175},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3589267134666443},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.34450072050094604},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3425406217575073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.264388769865036}],"concepts":[{"id":"https://openalex.org/C2777571299","wikidata":"https://www.wikidata.org/wiki/Q3680646","display_name":"Grinding","level":2,"score":0.8077763915061951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6355540752410889},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.42529216408729553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39575546979904175},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3589267134666443},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.34450072050094604},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3425406217575073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.264388769865036}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10637222","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/aim55361.2024.10637222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2111253117","https://openalex.org/W2620810193","https://openalex.org/W2789327938","https://openalex.org/W2910272281","https://openalex.org/W2967879411","https://openalex.org/W2974105041","https://openalex.org/W2997099343","https://openalex.org/W3089072207","https://openalex.org/W3125938522","https://openalex.org/W4224243831","https://openalex.org/W4224304301","https://openalex.org/W4285154320","https://openalex.org/W4378421750","https://openalex.org/W4385453290","https://openalex.org/W4387682072","https://openalex.org/W4387902634","https://openalex.org/W4388240250"],"related_works":["https://openalex.org/W2558687676","https://openalex.org/W2055172913","https://openalex.org/W4310396753","https://openalex.org/W2388159328","https://openalex.org/W2794371967","https://openalex.org/W2891601994","https://openalex.org/W2376458274","https://openalex.org/W2328522647","https://openalex.org/W2373143343","https://openalex.org/W2323970786"],"abstract_inverted_index":{"A":[0],"robotic":[1],"grinding":[2,7,22,37,51,80,104,108,122,127,148,174,199],"system":[3],"requires":[4],"a":[5,11,16,26,33,56,68,73,94,103,131,160,177,181],"force-controlled":[6],"module":[8,23,109,128],"to":[9,19,24,64,97,119,143,168,171],"provide":[10,173],"consistent":[12],"surface":[13,30,66,81,179],"roughness":[14],"and":[15,41,60,88,114,136],"robot":[17,45,77,84,165,192],"arm":[18],"position":[20],"the":[21,65,99,121,145,156,163,190],"reach":[25],"wide":[27,182],"range":[28,183],"of":[29,67,102,147,154,159,184],"area":[31],"on":[32,176],"workpiece.":[34,69],"Existing":[35,43],"pneumatic":[36],"modules":[38],"are":[39,47,141],"bulky":[40],"energy-inefficient.":[42],"6-axis":[44],"arms":[46],"often":[48],"used":[49,118,196],"for":[50],"positioning,":[52],"but":[53],"they":[54],"require":[55],"large":[57],"accommodation":[58],"space":[59],"have":[61],"limited":[62],"access":[63],"This":[70],"paper":[71],"proposes":[72],"compact":[74],"3-axis":[75],"spherical":[76,164],"with":[78,180],"no":[79],"limitations.":[82],"The":[83,106,125],"has":[85,110,130],"back-drivable":[86],"actuators":[87],"hence":[89,115],"can":[90,116,193],"be":[91,117,169,194],"guided":[92],"by":[93],"human":[95],"operator":[96],"facilitate":[98],"path":[100],"planning":[101],"surface.":[105],"proposed":[107,126,191],"low":[111,134],"reflected":[112],"inertia":[113],"control":[120],"force":[123,149],"accurately.":[124],"also":[129],"small":[132],"size,":[133],"noise,":[135],"minimum":[137],"energy":[138],"consumption.":[139],"Experiments":[140],"presented":[142],"verify":[144],"accuracy":[146],"control.":[150],"Through":[151],"an":[152],"illustration":[153],"removing":[155],"parting":[157],"line":[158],"helmet":[161],"hardshell,":[162],"is":[166,187],"shown":[167],"able":[170],"effectively":[172],"treatments":[175],"delicate":[178],"roughness.":[185],"It":[186],"expected":[188],"that":[189],"widely":[195],"in":[197],"automatic":[198],"operations.":[200]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
