{"id":"https://openalex.org/W7139054435","doi":"https://doi.org/10.1109/amc67705.2026.11435862","title":"A Modeling Approach for Robotic Handling of Deformable Objects in Food Retail to Enable Virtual Commissioning","display_name":"A Modeling Approach for Robotic Handling of Deformable Objects in Food Retail to Enable Virtual Commissioning","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7139054435","doi":"https://doi.org/10.1109/amc67705.2026.11435862"},"language":null,"primary_location":{"id":"doi:10.1109/amc67705.2026.11435862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc67705.2026.11435862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 19th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5121343214","display_name":"Marc Wehmeier","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Wehmeier","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,70563"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130138419","display_name":"S\u00f6ren Hain","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S\u00f6ren Hain","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,70563"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116729591","display_name":"Marcel Hagedorn","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114964","display_name":"Roto Frank (Germany)","ror":"https://ror.org/02j73r478","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210114964"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marcel Hagedorn","raw_affiliation_strings":["Premium Robotics GmbH,Leinfelden-Echterdingen,Germany,70771"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Premium Robotics GmbH,Leinfelden-Echterdingen,Germany,70771","institution_ids":["https://openalex.org/I4210114964"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058217592","display_name":"Denis Pfeifer","orcid":"https://orcid.org/0009-0002-4181-8354"},"institutions":[{"id":"https://openalex.org/I4210110922","display_name":"Industrielle Steuerungstechnik (Germany)","ror":"https://ror.org/017e5zc16","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210110922"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Denis Pfeifer","raw_affiliation_strings":["ISG Industrielle Steuerungstechnik GmbH,Stuttgart,Germany,70563"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ISG Industrielle Steuerungstechnik GmbH,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I4210110922"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129791018","display_name":"Oliver Sawodny","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Sawodny","raw_affiliation_strings":["University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,70563"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Stuttgart,Institute for System Dynamics,Stuttgart,Germany,70563","institution_ids":["https://openalex.org/I100066346"]}]}],"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":0.22779097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7123000025749207,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7123000025749207,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.06610000133514404,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.023399999365210533,"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/object","display_name":"Object (grammar)","score":0.5698000192642212},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5354999899864197},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5002999901771545},{"id":"https://openalex.org/keywords/product","display_name":"Product (mathematics)","score":0.41290000081062317},{"id":"https://openalex.org/keywords/virtual-machine","display_name":"Virtual machine","score":0.39879998564720154},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3871000111103058},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3837999999523163},{"id":"https://openalex.org/keywords/project-commissioning","display_name":"Project commissioning","score":0.3707999885082245}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6004999876022339},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5698000192642212},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5354999899864197},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5002999901771545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.428600013256073},{"id":"https://openalex.org/C90673727","wikidata":"https://www.wikidata.org/wiki/Q901718","display_name":"Product (mathematics)","level":2,"score":0.41290000081062317},{"id":"https://openalex.org/C25344961","wikidata":"https://www.wikidata.org/wiki/Q192726","display_name":"Virtual machine","level":2,"score":0.39879998564720154},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3871000111103058},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3837999999523163},{"id":"https://openalex.org/C165347436","wikidata":"https://www.wikidata.org/wiki/Q1514547","display_name":"Project commissioning","level":3,"score":0.3707999885082245},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3653999865055084},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35830000042915344},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.35269999504089355},{"id":"https://openalex.org/C51970089","wikidata":"https://www.wikidata.org/wiki/Q44415","display_name":"Virtual image","level":2,"score":0.34049999713897705},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3249000012874603},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3018999993801117},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.289000004529953},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2768999934196472},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27649998664855957},{"id":"https://openalex.org/C73752529","wikidata":"https://www.wikidata.org/wiki/Q79872","display_name":"Object-oriented programming","level":2,"score":0.2757999897003174},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.26899999380111694},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.263700008392334},{"id":"https://openalex.org/C150303390","wikidata":"https://www.wikidata.org/wiki/Q1983852","display_name":"Virtual actor","level":3,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc67705.2026.11435862","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc67705.2026.11435862","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 19th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5009338855743408,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W138249759","https://openalex.org/W1987038715","https://openalex.org/W2063004206","https://openalex.org/W2167667767","https://openalex.org/W2339217605","https://openalex.org/W2525584805","https://openalex.org/W2586505530","https://openalex.org/W2785405388","https://openalex.org/W2897005597","https://openalex.org/W3091248659","https://openalex.org/W3152259966","https://openalex.org/W3156258415","https://openalex.org/W3210838283","https://openalex.org/W4205518863","https://openalex.org/W4386249598","https://openalex.org/W4400077700","https://openalex.org/W4410220565","https://openalex.org/W4410577454","https://openalex.org/W4413934920"],"related_works":[],"abstract_inverted_index":{"The":[0,50,101],"large":[1],"product":[2],"variety":[3],"in":[4,47,88],"food":[5,48,89],"retail":[6],"poses":[7],"considerable":[8],"challenges":[9],"for":[10,40,85,110],"automation.":[11],"Moreover,":[12],"many":[13],"objects":[14,46,71,87],"are":[15,72,93],"deformable.":[16],"Therefore,":[17],"commissioning":[18],"new":[19],"robotic":[20,42],"systems":[21],"requires":[22],"extensive":[23],"field":[24],"testing.":[25],"To":[26,65],"reduce":[27],"implementation":[28],"effort":[29],"and":[30,61],"enable":[31,66],"virtual":[32,51,111],"commissioning,":[33],"this":[34],"paper":[35],"proposes":[36],"a":[37,54,57,75,82],"modeling":[38,108],"approach":[39,109],"the":[41,62,69,104,107],"handling":[43],"of":[44,78,98,106],"deformable":[45,70,86],"retail.":[49],"environment":[52],"comprises":[53],"collision":[55],"detection,":[56],"contact":[58],"force":[59],"model":[60],"object":[63],"dynamics.":[64],"real-time":[67],"simulation,":[68],"decomposed":[73],"into":[74],"finite":[76],"number":[77],"rigid":[79],"bodies.":[80],"Considering":[81],"common":[83],"example":[84],"retail,":[90],"simulation":[91],"results":[92],"compared":[94],"to":[95],"visual":[96],"data":[97],"real-world":[99],"experiments.":[100],"comparison":[102],"emphasizes":[103],"potential":[105],"commissioning.":[112]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-03-20T00:00:00"}