{"id":"https://openalex.org/W4402475025","doi":"https://doi.org/10.1109/ccece59415.2024.10667271","title":"Grasp Approach Under Positional Uncertainty Using Compliant Tactile Sensing Modules and Reinforcement Learning","display_name":"Grasp Approach Under Positional Uncertainty Using Compliant Tactile Sensing Modules and Reinforcement Learning","publication_year":2024,"publication_date":"2024-08-06","ids":{"openalex":"https://openalex.org/W4402475025","doi":"https://doi.org/10.1109/ccece59415.2024.10667271"},"language":"en","primary_location":{"id":"doi:10.1109/ccece59415.2024.10667271","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccece59415.2024.10667271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","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/A5092336723","display_name":"Viral Rasik Galaiya","orcid":"https://orcid.org/0000-0001-9132-4104"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Viral Rasik Galaiya","raw_affiliation_strings":["Memorial University of Newfoundland and Labrador,Robotics and AI Lab,Department of Computer Science,St. John’s,Canada"],"affiliations":[{"raw_affiliation_string":"Memorial University of Newfoundland and Labrador,Robotics and AI Lab,Department of Computer Science,St. John’s,Canada","institution_ids":["https://openalex.org/I130438778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004099977","display_name":"Thiago Eustaquio Alves de Oliveira","orcid":"https://orcid.org/0000-0002-7164-9064"},"institutions":[{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Thiago Eustaquio Alves De Oliveira","raw_affiliation_strings":["Lakehead University,Haptics and Robots Research Group,Department of Computer Science,Thunder Bay,Canada"],"affiliations":[{"raw_affiliation_string":"Lakehead University,Haptics and Robots Research Group,Department of Computer Science,Thunder Bay,Canada","institution_ids":["https://openalex.org/I72541430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018534368","display_name":"Xianta Jiang","orcid":"https://orcid.org/0000-0002-3219-1871"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xianta Jiang","raw_affiliation_strings":["Memorial University of Newfoundland and Labrador,Ubiquitous Computing and Machine Learning Lab,Department of Computer Science,St. John’s,Canada"],"affiliations":[{"raw_affiliation_string":"Memorial University of Newfoundland and Labrador,Ubiquitous Computing and Machine Learning Lab,Department of Computer Science,St. John’s,Canada","institution_ids":["https://openalex.org/I130438778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033287150","display_name":"Vinicius Prado da Fonseca","orcid":"https://orcid.org/0000-0001-5705-3056"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Vinicius Prado Da Fonseca","raw_affiliation_strings":["Memorial University of Newfoundland and Labrador,Robotics and AI Lab,Department of Computer Science,St. John’s,Canada"],"affiliations":[{"raw_affiliation_string":"Memorial University of Newfoundland and Labrador,Robotics and AI Lab,Department of Computer Science,St. John’s,Canada","institution_ids":["https://openalex.org/I130438778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5092336723"],"corresponding_institution_ids":["https://openalex.org/I130438778"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1561579,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"424","last_page":"428"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9911999702453613,"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":0.9855999946594238,"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/grasp","display_name":"GRASP","score":0.9216486811637878},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7536725997924805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.713145911693573},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6674444675445557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46992576122283936},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4638519287109375},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4368240237236023},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4174145758152008},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22662431001663208},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21542730927467346},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1016242504119873},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.08496895432472229},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06545081734657288}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9216486811637878},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7536725997924805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.713145911693573},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6674444675445557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46992576122283936},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4638519287109375},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4368240237236023},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4174145758152008},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22662431001663208},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21542730927467346},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1016242504119873},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.08496895432472229},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06545081734657288}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccece59415.2024.10667271","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ccece59415.2024.10667271","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE Canadian Conference on Electrical and Computer Engineering (CCECE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323319","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2574567538","https://openalex.org/W2605357618","https://openalex.org/W2945402292","https://openalex.org/W3003449769","https://openalex.org/W3039645397","https://openalex.org/W3088158297","https://openalex.org/W3111559341","https://openalex.org/W3112606007","https://openalex.org/W3138117074","https://openalex.org/W3205950068","https://openalex.org/W4200608175","https://openalex.org/W4280508862","https://openalex.org/W4284892334","https://openalex.org/W4295046749","https://openalex.org/W4313429295","https://openalex.org/W4323020946","https://openalex.org/W4375850331","https://openalex.org/W4379875215","https://openalex.org/W4387122127","https://openalex.org/W6740023956","https://openalex.org/W6748978124","https://openalex.org/W6857115167"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W3133406196","https://openalex.org/W4210583734","https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W2968390578","https://openalex.org/W4386100501","https://openalex.org/W4386395740"],"abstract_inverted_index":{"Object":[0],"grasping":[1,118],"is":[2],"a":[3,99,125,142,150],"complex":[4],"task":[5],"that":[6,127],"requires":[7],"high":[8],"environmental":[9,17],"awareness.":[10],"While":[11],"vision":[12],"generally":[13],"provides":[14],"highly":[15],"detailed":[16],"information,":[18],"light":[19],"changes,":[20],"object":[21,37,53,130],"transparency,":[22],"camera":[23],"resolution,":[24],"and":[25,31,51,111],"other":[26],"factors":[27],"such":[28],"as":[29],"occlusion":[30],"clutter":[32],"affect":[33],"its":[34],"perception":[35],"of":[36,60,67,157,162,167],"pose.":[38],"Due":[39],"to":[40,94,115,148,164],"these":[41],"limitations,":[42],"there":[43],"may":[44,89],"be":[45],"some":[46],"deviation":[47],"between":[48],"the":[49,65,79,86,103,136,155],"estimated":[50],"actual":[52],"pose":[54,120],"in":[55],"unstructured":[56],"environments.":[57],"The":[58],"use":[59,90],"compliant":[61,91,112],"tactile":[62,92,113],"sensors":[63,93,114],"relaxes":[64],"requirement":[66],"strict":[68],"finger":[69],"position":[70,131],"planning":[71],"while":[72,134,153],"providing":[73],"essential":[74],"information":[75],"regarding":[76],"contact":[77,139],"with":[78],"target":[80],"object.":[81],"Therefore,":[82],"under":[83,119],"positional":[84],"uncertainty,":[85],"robotic":[87],"system":[88],"perform":[95,149],"multiple":[96],"attempts":[97,158],"before":[98,140],"successful":[100,151],"grasp.":[101,143],"In":[102],"present":[104],"paper,":[105],"we":[106,123],"investigate":[107],"using":[108],"reinforcement":[109],"learning":[110],"provide":[116],"adaptive":[117],"uncertainty.":[121],"Here,":[122],"identify":[124],"policy":[126],"models":[128],"an":[129,160,165],"estimation":[132],"error":[133],"minimizing":[135],"exploratory":[137],"sensor":[138],"obtaining":[141],"Our":[144],"method":[145],"was":[146],"able":[147],"grasp":[152],"reducing":[154],"number":[156],"from":[159],"average":[161,166],"five":[163],"two":[168],"per":[169],"episode.":[170]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}