{"id":"https://openalex.org/W4390481075","doi":"https://doi.org/10.1109/humanoids57100.2023.10375227","title":"Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots","display_name":"Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390481075","doi":"https://doi.org/10.1109/humanoids57100.2023.10375227"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375227","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","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/A5073766798","display_name":"Hosameldin Awadalla Omer Mohamed","orcid":"https://orcid.org/0000-0002-2845-8465"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Hosameldin Awadalla Omer Mohamed","raw_affiliation_strings":["Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004259374","display_name":"Gabriele Nava","orcid":"https://orcid.org/0000-0001-8965-2934"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Nava","raw_affiliation_strings":["Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163"],"affiliations":[{"raw_affiliation_string":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017733770","display_name":"Punith Reddy Vanteddu","orcid":"https://orcid.org/0000-0001-6784-1822"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Punith Reddy Vanteddu","raw_affiliation_strings":["Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163","School of Computer Science, Univ. of Manchester, Manchester M13 9PL, U.K"],"affiliations":[{"raw_affiliation_string":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"School of Computer Science, Univ. of Manchester, Manchester M13 9PL, U.K","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050750282","display_name":"Francesco Braghin","orcid":"https://orcid.org/0000-0002-0476-4118"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Braghin","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano,Milan,Italy,20156"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano,Milan,Italy,20156","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163","School of Computer Science, Univ. of Manchester, Manchester M13 9PL, U.K"],"affiliations":[{"raw_affiliation_string":"Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"School of Computer Science, Univ. of Manchester, Manchester M13 9PL, U.K","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073766798"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18162444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9968000054359436,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9968000054359436,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9884999990463257,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9850999712944031,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7497035264968872},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.7173797488212585},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.645005464553833},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6428405046463013},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6399705410003662},{"id":"https://openalex.org/keywords/strain-gauge","display_name":"Strain gauge","score":0.6245538592338562},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6122795343399048},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6069952249526978},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.5595471858978271},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.5536283254623413},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5359376668930054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45651718974113464},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40331897139549255},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38149115443229675},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37076789140701294},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27848899364471436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2208748757839203},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2111377716064453},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2055712640285492},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1373785436153412},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13596343994140625},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11393290758132935},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1133996844291687},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09026598930358887}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7497035264968872},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.7173797488212585},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.645005464553833},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6428405046463013},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6399705410003662},{"id":"https://openalex.org/C60584519","wikidata":"https://www.wikidata.org/wiki/Q610723","display_name":"Strain gauge","level":2,"score":0.6245538592338562},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6122795343399048},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6069952249526978},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.5595471858978271},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.5536283254623413},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5359376668930054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45651718974113464},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40331897139549255},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38149115443229675},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37076789140701294},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27848899364471436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2208748757839203},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2111377716064453},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2055712640285492},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1373785436153412},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13596343994140625},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11393290758132935},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1133996844291687},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09026598930358887},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375227","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids57100.2023.10375227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1262679","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1262679","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1839010761","https://openalex.org/W1963573260","https://openalex.org/W2018310749","https://openalex.org/W2115489808","https://openalex.org/W2135046866","https://openalex.org/W2417728065","https://openalex.org/W2568297126","https://openalex.org/W2592835906","https://openalex.org/W2614308505","https://openalex.org/W2769646558","https://openalex.org/W2799701748","https://openalex.org/W2913401277","https://openalex.org/W2968727292","https://openalex.org/W2969346182","https://openalex.org/W2994672405","https://openalex.org/W3101798601","https://openalex.org/W3185209449","https://openalex.org/W3214740658","https://openalex.org/W4206246826","https://openalex.org/W4242945757","https://openalex.org/W6746994171","https://openalex.org/W6930911246"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W2143454724"],"abstract_inverted_index":{"High":[0],"force/torque":[1,94],"(F/T)":[2],"sensor":[3],"calibration":[4,19],"accuracy":[5],"is":[6],"crucial":[7],"to":[8,66,116,141],"achieving":[9],"successful":[10],"force":[11],"estimation/control":[12],"tasks":[13],"with":[14,83,122,143],"humanoid":[15,47],"robots.":[16],"State-of-the-art":[17],"affine":[18,124,145],"models":[20,56],"do":[21],"not":[22],"always":[23],"approximate":[24],"correctly":[25],"the":[26,30,61,68,78,84,93,109,119,127,131,144],"physical":[27],"phenomenon":[28],"of":[29,44,63,73],"sensor/transducer,":[31],"resulting":[32],"in":[33,91,130],"inaccurate":[34],"F/T":[35,58],"measurements":[36],"for":[37,57],"specific":[38],"applications":[39],"such":[40],"as":[41],"thrust":[42],"estimation":[43,69,95],"a":[45,88,105],"jet-powered":[46],"robot.":[48],"This":[49],"paper":[50],"proposes":[51],"and":[52,126],"validates":[53],"nonlinear":[54],"polynomial":[55,107],"calibration,":[59],"increasing":[60],"number":[62],"model":[64],"coefficients":[65],"minimize":[67],"residuals.":[70],"The":[71],"analysis":[72],"several":[74],"models,":[75],"based":[76],"on":[77],"data":[79],"collected":[80],"from":[81,118],"experiments":[82],"iCub3":[85],"robot,":[86],"shows":[87],"significant":[89],"improvement":[90],"minimizing":[92],"error":[96,113,129],"when":[97,103],"using":[98,104],"higher-degree":[99],"polynomials.":[100],"In":[101],"particular,":[102],"4th-degree":[106],"model,":[108,125],"Root":[110],"Mean":[111],"Square":[112],"(RMSE)":[114],"decreased":[115],"2.28N":[117],"4.58N":[120],"obtained":[121],"an":[123],"absolute":[128],"forces":[132],"remained":[133],"under":[134],"6N":[135],"while":[136],"it":[137],"was":[138],"reaching":[139],"up":[140],"16N":[142],"model.":[146]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
