{"id":"https://openalex.org/W7161808187","doi":"https://doi.org/10.1109/icarsc70216.2026.11523254","title":"Perceptually Reliable Pill Detection and Characterisation for Medication Assistance Using the Pepper Humanoid Robot","display_name":"Perceptually Reliable Pill Detection and Characterisation for Medication Assistance Using the Pepper Humanoid Robot","publication_year":2026,"publication_date":"2026-04-22","ids":{"openalex":"https://openalex.org/W7161808187","doi":"https://doi.org/10.1109/icarsc70216.2026.11523254"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc70216.2026.11523254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc70216.2026.11523254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","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/A5116048295","display_name":"Aatheethyaa Dhanasekaran","orcid":"https://orcid.org/0009-0006-1493-851X"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Aatheethyaa Dhanasekaran","raw_affiliation_strings":["Univ. Rome Tor Vergata,Department of Industrial Engineering,Rome,Italy,I00133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Rome Tor Vergata,Department of Industrial Engineering,Rome,Italy,I00133","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067252894","display_name":"Vincenzo Bonaiuto","orcid":"https://orcid.org/0000-0002-2328-4793"},"institutions":[{"id":"https://openalex.org/I116067653","display_name":"University of Rome Tor Vergata","ror":"https://ror.org/02p77k626","country_code":"IT","type":"education","lineage":["https://openalex.org/I116067653"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vincenzo Bonaiuto","raw_affiliation_strings":["Univ. Rome Tor Vergata,Department of Industrial Engineering,Rome,Italy,I00133"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Rome Tor Vergata,Department of Industrial Engineering,Rome,Italy,I00133","institution_ids":["https://openalex.org/I116067653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085145140","display_name":"Andrea Zanela","orcid":"https://orcid.org/0000-0001-5606-4175"},"institutions":[{"id":"https://openalex.org/I110120368","display_name":"National Agency for New Technologies, Energy and Sustainable Economic Development","ror":"https://ror.org/02an8es95","country_code":"IT","type":"government","lineage":["https://openalex.org/I110120368"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Zanela","raw_affiliation_strings":["ENEA \"Casaccia\" Research Centre,Energy and Data Science Laboratory,Rome,Italy,I00123"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ENEA \"Casaccia\" Research Centre,Energy and Data Science Laboratory,Rome,Italy,I00123","institution_ids":["https://openalex.org/I110120368"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.52422803,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"106","last_page":"111"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.07500000298023224,"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/T13382","display_name":"Robotics and Automated Systems","score":0.07500000298023224,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.06430000066757202,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.05900000035762787,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5884000062942505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35339999198913574},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.3057999908924103},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.28700000047683716},{"id":"https://openalex.org/keywords/pill","display_name":"Pill","score":0.27300000190734863}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5884000062942505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.525600016117096},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49219998717308044},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.47999998927116394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35339999198913574},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3057999908924103},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C81603835","wikidata":"https://www.wikidata.org/wiki/Q3457430","display_name":"Pill","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.26669999957084656},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25690001249313354},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.2549999952316284}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarsc70216.2026.11523254","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc70216.2026.11523254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:art.torvergata.it:2108/464505","is_oa":false,"landing_page_url":"https://hdl.handle.net/2108/464505","pdf_url":null,"source":{"id":"https://openalex.org/S4306400993","display_name":"Cineca Institutional Research Information System (Tor Vergata University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I116067653","host_organization_name":"University of Rome Tor Vergata","host_organization_lineage":["https://openalex.org/I116067653"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1741567663","https://openalex.org/W1991544872","https://openalex.org/W2033819227","https://openalex.org/W2068221931","https://openalex.org/W2137099741","https://openalex.org/W2155441883","https://openalex.org/W2167667767","https://openalex.org/W2618530766","https://openalex.org/W2963037989","https://openalex.org/W4390874575","https://openalex.org/W7152545696"],"related_works":[],"abstract_inverted_index":{"Socially":[0],"assistive":[1],"robots":[2],"are":[3,144],"increasingly":[4],"investigated":[5],"as":[6,34],"tools":[7],"to":[8,59],"support":[9],"daily":[10],"living":[11],"activities":[12],"for":[13,41,53,97],"older":[14],"adults,":[15],"including":[16],"medication":[17],"assistance.":[18],"A":[19],"key":[20],"requirement":[21],"in":[22,66,104],"this":[23],"context":[24],"is":[25],"the":[26,54,134,152],"reliable":[27],"perception":[28,51,185],"of":[29,92,141,186],"small":[30,64,187],"everyday":[31],"objects,":[32],"such":[33],"pills,":[35],"using":[36,171],"onboard":[37,174],"sensors":[38,175],"not":[39],"designed":[40,58],"high-precision":[42],"metrology.":[43],"This":[44],"paper":[45],"presents":[46],"a":[47,105,177],"geometrically":[48],"consistent":[49],"RGB\u2013depth":[50],"pipeline":[52],"Pepper":[55],"humanoid":[56],"robot,":[57],"detect,":[60],"segment,":[61],"and":[62,76,86,94,124,149,159,164,176,182],"characterize":[63],"objects":[65,188],"indoor":[67],"environments.":[68],"The":[69,100],"approach":[70],"combines":[71],"high-resolution":[72],"RGB-based":[73],"object":[74],"detection":[75],"segmentation":[77],"with":[78,112,116,129],"an":[79],"explicit":[80],"calibration":[81,179],"procedure":[82],"between":[83,162],"Pepper\u2019s":[84,173],"RGB":[85],"depth":[87,95],"cameras,":[88],"enabling":[89],"principled":[90],"fusion":[91],"visual":[93],"information":[96],"metric":[98],"reasoning.":[99],"system":[101,153],"was":[102],"evaluated":[103],"pilot":[106],"study":[107],"on":[108,118],"representative":[109],"pill":[110],"samples":[111],"known":[113],"physical":[114],"dimensions,":[115],"emphasis":[117],"perceptual":[119],"consistency.":[120],"Results":[121],"show":[122],"stable":[123],"repeatable":[125],"distance":[126],"estimates":[127],"together":[128],"robust":[130],"shape":[131],"descriptors":[132],"across":[133],"tested":[135],"samples.":[136],"Although":[137],"absolute":[138],"size":[139,157],"measurements":[140],"elongated":[142,165],"pills":[143],"affected":[145],"by":[146],"perspective":[147],"effects":[148],"depth-resolution":[150],"limitations,":[151],"consistently":[154],"preserves":[155],"relative":[156],"ordering":[158],"reliably":[160],"distinguishes":[161],"circular":[163],"objects.":[166],"These":[167],"findings":[168],"demonstrate":[169],"that,":[170],"only":[172],"one-time":[178],"procedure,":[180],"meaningful":[181],"application-relevant":[183],"geometric":[184],"can":[189],"be":[190],"achieved.":[191]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-05-21T00:00:00"}
