{"id":"https://openalex.org/W4403447401","doi":"https://doi.org/10.1109/etfa61755.2024.10710863","title":"Contact-Based in-Hand Package Pose Estimation Using a Collaborative Robot","display_name":"Contact-Based in-Hand Package Pose Estimation Using a Collaborative Robot","publication_year":2024,"publication_date":"2024-09-10","ids":{"openalex":"https://openalex.org/W4403447401","doi":"https://doi.org/10.1109/etfa61755.2024.10710863"},"language":"en","primary_location":{"id":"doi:10.1109/etfa61755.2024.10710863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa61755.2024.10710863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA)","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/A5070157670","display_name":"Alessio Saccuti","orcid":"https://orcid.org/0000-0001-8746-0998"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessio Saccuti","raw_affiliation_strings":["University of Parma,Department of Engineering and Architecture,Parma,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Parma,Department of Engineering and Architecture,Parma,Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064978105","display_name":"Riccardo Monica","orcid":"https://orcid.org/0000-0002-1262-6348"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Monica","raw_affiliation_strings":["University of Parma,Department of Engineering and Architecture,Parma,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Parma,Department of Engineering and Architecture,Parma,Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078802612","display_name":"Jacopo Aleotti","orcid":"https://orcid.org/0000-0003-2498-932X"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jacopo Aleotti","raw_affiliation_strings":["University of Parma,Department of Engineering and Architecture,Parma,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Parma,Department of Engineering and Architecture,Parma,Italy","institution_ids":["https://openalex.org/I124601658"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2913,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.57081852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.9988999962806702,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9901999831199646,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6825017929077148},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.618472158908844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.596496045589447},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5156427621841431},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.485768586397171},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4255898594856262},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3373785614967346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13706481456756592}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6825017929077148},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.618472158908844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.596496045589447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5156427621841431},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.485768586397171},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4255898594856262},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3373785614967346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13706481456756592},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa61755.2024.10710863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa61755.2024.10710863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA)","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":18,"referenced_works":["https://openalex.org/W1969583232","https://openalex.org/W2811690862","https://openalex.org/W2956475343","https://openalex.org/W3037913527","https://openalex.org/W3089748410","https://openalex.org/W3116741807","https://openalex.org/W3176793950","https://openalex.org/W3207726767","https://openalex.org/W4296704463","https://openalex.org/W4312347834","https://openalex.org/W4315473899","https://openalex.org/W4320712818","https://openalex.org/W4375850331","https://openalex.org/W4380480427","https://openalex.org/W4387462988","https://openalex.org/W4389665582","https://openalex.org/W4390081898","https://openalex.org/W4394990805"],"related_works":["https://openalex.org/W2123263858","https://openalex.org/W3127959533","https://openalex.org/W4387967917","https://openalex.org/W4387968151","https://openalex.org/W4386925306","https://openalex.org/W3132124459","https://openalex.org/W2946083937","https://openalex.org/W2736638679","https://openalex.org/W4313046826","https://openalex.org/W1968716783"],"abstract_inverted_index":{"In":[0,81],"automated":[1],"robot":[2],"assembly":[3],"and":[4,43,79,104,137],"industrial":[5],"palletization":[6],"tasks":[7],"it":[8],"is":[9,67,88,94],"crucial":[10],"to":[11,59,126],"ensure":[12],"a":[13,20,84,105,132],"good":[14],"accuracy":[15],"while":[16,64],"placing":[17],"objects":[18],"given":[19],"planned":[21],"target":[22],"pose.":[23],"To":[24],"achieve":[25],"this":[26,82],"goal":[27],"post-grasp":[28,53,86],"strategies":[29,54],"may":[30],"be":[31],"adopted":[32],"that":[33],"estimate":[34,60],"or":[35],"correct":[36],"the":[37,41,44,61,65,91,101,112,127],"displacement":[38,62,92,113],"error":[39,63,93,114],"between":[40,100],"expected":[42],"actual":[45],"grasp":[46],"pose":[47],"of":[48,131],"an":[49],"object.":[50],"Standard":[51],"in-hand":[52,96],"require":[55],"sensors":[56],"like":[57],"cameras":[58],"object":[66,74,103],"grasped.":[68],"Other":[69],"approaches":[70],"are":[71],"based":[72],"on":[73,122],"re-grasping":[75],"using":[76],"special":[77],"jigs":[78],"fixtures.":[80],"paper":[83],"novel":[85],"strategy":[87],"proposed,":[89],"where":[90],"estimated":[95],"by":[97],"detecting":[98],"collisions":[99],"grasped":[102],"fixed":[106],"peg.":[107],"The":[108,118],"proposed":[109],"method":[110],"estimates":[111],"after":[115],"few":[116],"collisions.":[117],"approach":[119],"was":[120],"evaluated":[121],"cardboard":[123],"boxes":[124],"thanks":[125],"internal":[128],"forcetorque":[129],"sensor":[130],"collaborative":[133],"robot,":[134],"achieving":[135],"sub-millimeter":[136],"sub-degree":[138],"residual":[139],"placement":[140],"errors.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}