{"id":"https://openalex.org/W4403535076","doi":"https://doi.org/10.1109/icarm62033.2024.10715919","title":"Visual-Tactile Based Manipulation Control for Complex Robot Manipulation Process via Geometric and Contact State Modeling","display_name":"Visual-Tactile Based Manipulation Control for Complex Robot Manipulation Process via Geometric and Contact State Modeling","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403535076","doi":"https://doi.org/10.1109/icarm62033.2024.10715919"},"language":"en","primary_location":{"id":"doi:10.1109/icarm62033.2024.10715919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5016266277","display_name":"Gaozhao Wang","orcid":"https://orcid.org/0009-0003-4184-0903"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gaozhao Wang","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381466","display_name":"Xing Liu","orcid":"https://orcid.org/0000-0002-5327-4908"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Liu","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083493899","display_name":"Zhengxiong Liu","orcid":"https://orcid.org/0000-0002-9427-4066"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxiong Liu","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046934338","display_name":"Yizhai Zhang","orcid":"https://orcid.org/0000-0001-9022-6369"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhai Zhang","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109622737","display_name":"Panfeng Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panfeng Huang","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi’an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5016266277"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18464415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"302","last_page":"308"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9128999710083008,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9128999710083008,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6687439680099487},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6158033609390259},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5637624263763428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47754228115081787},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4665531814098358},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.44434767961502075},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3437884449958801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15769582986831665},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06564357876777649}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6687439680099487},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6158033609390259},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5637624263763428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47754228115081787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4665531814098358},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.44434767961502075},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3437884449958801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15769582986831665},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06564357876777649},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm62033.2024.10715919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334111","display_name":"Innovation Fund","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W102778925","https://openalex.org/W2906148830","https://openalex.org/W2962705470","https://openalex.org/W2963379061","https://openalex.org/W2967717386","https://openalex.org/W3192021195","https://openalex.org/W3193486241","https://openalex.org/W3205950068","https://openalex.org/W4200633542","https://openalex.org/W4207069129","https://openalex.org/W4285102554","https://openalex.org/W4287887256","https://openalex.org/W4312362134","https://openalex.org/W4383066145","https://openalex.org/W4383097611","https://openalex.org/W4383109117","https://openalex.org/W4383109127","https://openalex.org/W4384519313","https://openalex.org/W6798796899","https://openalex.org/W6810823645"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W1990892711"],"abstract_inverted_index":{"The":[0,35,107],"accurate":[1],"representation":[2],"of":[3,12,33,43,55,84,155,166],"object":[4,67,86],"shape,":[5],"pose,":[6,92],"and":[7,50,68,91,99,114,153],"tool-object":[8],"contact":[9,56,79,118,122,128,142],"states":[10,119,129],"is":[11],"paramount":[13],"importance":[14],"in":[15,104,136],"complex":[16],"robot":[17,133],"tool":[18],"manipulation":[19,37,169],"tasks.":[20],"These":[21],"facets":[22],"are":[23],"comprehensively":[24],"modeled":[25,111],"using":[26],"tactile":[27],"sensors,":[28],"which":[29,72],"provide":[30],"a":[31],"wealth":[32],"information.":[34],"tactile-based":[36],"control":[38,170],"framework":[39],"presented":[40,168],"here":[41],"consists":[42],"three":[44],"core":[45],"components:":[46],"the":[47,53,61,65,69,78,82,95,110,121,132,147,164,167],"explorer,":[48],"modeler,":[49],"controller.":[51],"In":[52,125],"context":[54],"state":[57,123],"modeling,":[58,87],"we":[59,93],"collect":[60],"moving":[62],"trend":[63],"between":[64],"grasped":[66],"visual-tactile":[70,96],"sensor,":[71],"could":[73],"be":[74],"used":[75],"for":[76],"estimating":[77,117],"state.":[80],"Addressing":[81],"challenge":[83],"precise":[85],"including":[88],"both":[89],"shape":[90,113],"employ":[94],"joint":[97],"exploration":[98],"geometric":[100],"modeling":[101],"approach":[102],"introduced":[103],"this":[105],"study.":[106],"controller":[108],"leverages":[109],"object\u2019s":[112],"pose":[115],"while":[116],"through":[120],"classifier.":[124],"scenarios":[126],"where":[127],"exhibit":[130],"uncertainty,":[131],"autonomously":[134],"engages":[135],"exploration,":[137],"returning":[138],"to":[139,144,161],"its":[140],"established":[141],"mode":[143],"successfully":[145],"conclude":[146],"manipulation.":[148],"Peg-hole-insertion":[149],"experiments":[150],"featuring":[151],"pegs":[152],"holes":[154],"varying":[156],"shapes":[157],"have":[158],"been":[159],"conducted":[160],"empirically":[162],"validate":[163],"efficacy":[165],"framework.":[171]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}