{"id":"https://openalex.org/W3185569521","doi":"https://doi.org/10.1109/etfa45728.2021.9613366","title":"MobileCharger: an Autonomous Mobile Robot with Inverted Delta Actuator for Robust and Safe Robot Charging","display_name":"MobileCharger: an Autonomous Mobile Robot with Inverted Delta Actuator for Robust and Safe Robot Charging","publication_year":2021,"publication_date":"2021-09-07","ids":{"openalex":"https://openalex.org/W3185569521","doi":"https://doi.org/10.1109/etfa45728.2021.9613366","mag":"3185569521"},"language":"en","primary_location":{"id":"doi:10.1109/etfa45728.2021.9613366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa45728.2021.9613366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.10585","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006281755","display_name":"Iaroslav Okunevich","orcid":"https://orcid.org/0000-0001-5440-1297"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Iaroslav Okunevich","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026323328","display_name":"Daria Trinitatova","orcid":"https://orcid.org/0000-0002-0685-1418"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Daria Trinitatova","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069838833","display_name":"Pavel Kopanev","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Pavel Kopanev","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russia"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skolkovo Institute of Science and Technology, Moscow, Russia","Skoltech#TAB#"],"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech#TAB#","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5006281755"],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0896664,"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":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12546","display_name":"Smart Parking Systems Research","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.699417233467102},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6676508188247681},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6303756237030029},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6080634593963623},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5707213282585144},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.570303738117218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.567656934261322},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42141860723495483}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.699417233467102},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6676508188247681},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6303756237030029},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6080634593963623},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5707213282585144},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.570303738117218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.567656934261322},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42141860723495483}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/etfa45728.2021.9613366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa45728.2021.9613366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2107.10585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.10585","pdf_url":"https://arxiv.org/pdf/2107.10585","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"mag:3185569521","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2107.10585.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2107.10585","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2107.10585","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.10585","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.10585","pdf_url":"https://arxiv.org/pdf/2107.10585","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324442","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3185569521.pdf","grobid_xml":"https://content.openalex.org/works/W3185569521.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W2145023731","https://openalex.org/W2286473355","https://openalex.org/W2499485734","https://openalex.org/W2796347433","https://openalex.org/W2800140583","https://openalex.org/W2884017585","https://openalex.org/W2902240649","https://openalex.org/W2909501706","https://openalex.org/W2910910679","https://openalex.org/W2913789159","https://openalex.org/W2956550348","https://openalex.org/W2963263790","https://openalex.org/W2970012023","https://openalex.org/W2999660528","https://openalex.org/W3016698399","https://openalex.org/W3033732695","https://openalex.org/W3081284779","https://openalex.org/W3083416781","https://openalex.org/W3118414639","https://openalex.org/W3141915075","https://openalex.org/W3166798780","https://openalex.org/W3185232663","https://openalex.org/W3202897040","https://openalex.org/W6750227808","https://openalex.org/W6756223733","https://openalex.org/W6800302121"],"related_works":["https://openalex.org/W3185232663","https://openalex.org/W2885103648","https://openalex.org/W3039699974","https://openalex.org/W2182660421","https://openalex.org/W1968326339","https://openalex.org/W2140467846","https://openalex.org/W2816563621","https://openalex.org/W2416477452","https://openalex.org/W232312625","https://openalex.org/W1726844701","https://openalex.org/W2310468012","https://openalex.org/W1921907231","https://openalex.org/W2856493056","https://openalex.org/W2942272843","https://openalex.org/W2207552297","https://openalex.org/W2351116958","https://openalex.org/W3139955242","https://openalex.org/W2885791047","https://openalex.org/W2598850761","https://openalex.org/W3133154060"],"abstract_inverted_index":{"MobileCharger":[0,142],"is":[1],"a":[2,39,97,145],"novel":[3],"mobile":[4,20,36,157],"charging":[5,149],"robot":[6,37,68],"with":[7],"an":[8],"Inverted":[9],"Delta":[10],"actuator":[11,94],"for":[12,115,139],"safe":[13],"and":[14,62,95,133,151],"robust":[15],"energy":[16],"transfer":[17],"between":[18,55,100],"two":[19,105],"robots.":[21,106,158],"The":[22,44,107,120],"RGB-D":[23],"camera-based":[24],"computer":[25],"vision":[26],"system":[27,84],"allows":[28,85],"to":[29,51],"detect":[30],"the":[31,34,53,56,59,63,66,76,80,89,93,101,104,126,134,153],"electrodes":[32,57,64,102],"on":[33,58,65,72,75],"target":[35],"using":[38,69,118],"convolutional":[40],"neural":[41],"network":[42],"(CNN).":[43],"embedded":[45],"high-fidelity":[46],"tactile":[47],"sensors":[48],"are":[49],"applied":[50],"estimate":[52],"misalignment":[54],"charger":[60],"mechanism":[61],"main":[67],"CNN":[70],"based":[71],"pressure":[73],"data":[74],"contact":[77],"surfaces.":[78],"Thus,":[79],"developed":[81],"vision-tactile":[82],"perception":[83],"precise":[86],"positioning":[87],"of":[88,92,103,122,125,148,155],"end":[90],"effector":[91],"ensures":[96],"reliable":[98],"connection":[99],"experimental":[108],"results":[109],"showed":[110],"high":[111],"average":[112,135],"precision":[113],"(84.2%)":[114],"electrode":[116,128],"detection":[117],"CNN.":[119],"percentage":[121],"successful":[123],"trials":[124],"CNN-based":[127],"search":[129],"algorithm":[130],"reached":[131],"83%":[132],"execution":[136],"time":[137],"accounted":[138],"60":[140],"s.":[141],"could":[143],"introduce":[144],"new":[146],"level":[147],"systems":[150],"increase":[152],"prevalence":[154],"autonomous":[156]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}