{"id":"https://openalex.org/W1967507262","doi":"https://doi.org/10.1109/coase.2012.6386340","title":"Hole detection algorithm for square peg-in-hole using force-based shape recognition","display_name":"Hole detection algorithm for square peg-in-hole using force-based shape recognition","publication_year":2012,"publication_date":"2012-08-01","ids":{"openalex":"https://openalex.org/W1967507262","doi":"https://doi.org/10.1109/coase.2012.6386340","mag":"1967507262"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2012.6386340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","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/A5047603222","display_name":"Young-Loul Kim","orcid":"https://orcid.org/0000-0002-2432-4881"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-Loul Kim","raw_affiliation_strings":["School of Mechanical Engineering, Korea University, Seoul, South Korea","School of Mechanical Engineering , Korea University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Mechanical Engineering , Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033574234","display_name":"Byeong-Sang Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byeong-Sang Kim","raw_affiliation_strings":["School of Mechanical Engineering, Korea University, Seoul, South Korea","School of Mechanical Engineering , Korea University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Mechanical Engineering , Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013838439","display_name":"Jae-Bok Song","orcid":"https://orcid.org/0000-0002-5818-1938"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Bok Song","raw_affiliation_strings":["School of Mechanical Engineering, Korea University, Seoul, South Korea","School of Mechanical Engineering , Korea University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]},{"raw_affiliation_string":"School of Mechanical Engineering , Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":2.1882,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.84490137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1074","last_page":"1079"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9968000054359436,"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/position","display_name":"Position (finance)","score":0.8205574750900269},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.7252440452575684},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5144989490509033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5014944076538086},{"id":"https://openalex.org/keywords/peg-ratio","display_name":"PEG ratio","score":0.5011262893676758},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.430541068315506},{"id":"https://openalex.org/keywords/square","display_name":"Square (algebra)","score":0.42849844694137573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2952265739440918},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28132331371307373},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20420533418655396}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.8205574750900269},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.7252440452575684},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5144989490509033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5014944076538086},{"id":"https://openalex.org/C54400483","wikidata":"https://www.wikidata.org/wiki/Q1793202","display_name":"PEG ratio","level":2,"score":0.5011262893676758},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.430541068315506},{"id":"https://openalex.org/C135692309","wikidata":"https://www.wikidata.org/wiki/Q111124","display_name":"Square (algebra)","level":2,"score":0.42849844694137573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2952265739440918},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28132331371307373},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20420533418655396},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2012.6386340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2012.6386340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Automation Science and Engineering (CASE)","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":9,"referenced_works":["https://openalex.org/W1594265855","https://openalex.org/W1805418674","https://openalex.org/W1938885652","https://openalex.org/W1992524687","https://openalex.org/W2045560780","https://openalex.org/W2072578400","https://openalex.org/W2129190609","https://openalex.org/W2130506984","https://openalex.org/W6638188162"],"related_works":["https://openalex.org/W2064730869","https://openalex.org/W2316170482","https://openalex.org/W2319863398","https://openalex.org/W2021543137","https://openalex.org/W2332336499","https://openalex.org/W2905102299","https://openalex.org/W1559396134","https://openalex.org/W2323943295","https://openalex.org/W2356915299","https://openalex.org/W2517543927"],"abstract_inverted_index":{"It":[0],"is":[1,35],"very":[2],"difficult":[3],"to":[4,39,121,127],"assemble":[5],"precision":[6],"parts":[7],"using":[8],"only":[9,120],"position":[10,58,105],"control.":[11],"To":[12],"deal":[13],"with":[14,56],"these":[15],"problems,":[16],"force":[17],"control":[18],"approaches,":[19],"which":[20],"provide":[21],"a":[22,36,47,71,77,108,111,122,128,149],"proper":[23,48],"motion":[24],"response":[25],"against":[26],"the":[27,41,57,61,64,83,94,97,101,104,139,144],"contact":[28],"force,":[29],"were":[30],"investigated.":[31],"Moreover,":[32],"hole":[33,49,84,89,98],"detection":[34,50,85,90],"crucial":[37],"step":[38],"eliminate":[40],"uncertainty":[42],"in":[43],"robotic":[44],"assembly.":[45],"Without":[46],"algorithm,":[51],"assembly":[52],"time":[53],"increases":[54],"along":[55],"difference":[59],"between":[60,107],"peg":[62,109,150],"and":[63,82,110,146],"hole.":[65,112],"In":[66],"this":[67],"study,":[68],"we":[69],"propose":[70],"shape":[72,145],"recognition":[73],"algorithm":[74,91,115],"based":[75],"on":[76],"6":[78],"axis":[79],"F/T":[80],"sensor":[81],"algorithm.":[86],"The":[87,113],"proposed":[88,140],"can":[92,116,142],"find":[93],"direction":[95],"of":[96,100,103,134,148],"regardless":[99],"size":[102],"error":[106],"same":[114],"be":[117],"implemented":[118],"not":[119],"circular":[123],"peg,":[124],"but":[125],"also":[126],"polygonal":[129],"convex":[130],"peg.":[131],"A":[132],"series":[133],"experimental":[135],"results":[136],"show":[137],"that":[138],"algorithms":[141],"estimate":[143],"location":[147],"reasonably":[151],"well.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
