{"id":"https://openalex.org/W1541173870","doi":"https://doi.org/10.1109/icra.2015.7139532","title":"An online method for tight-tolerance insertion tasks for string and rope","display_name":"An online method for tight-tolerance insertion tasks for string and rope","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1541173870","doi":"https://doi.org/10.1109/icra.2015.7139532","mag":"1541173870"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139532","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5081927133","display_name":"Weifu Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]},{"id":"https://openalex.org/I4210166639","display_name":"Dartmouth Hospital","ror":"https://ror.org/02j3qj605","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I4210166639"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Weifu Wang","raw_affiliation_strings":["Dartmouth College","[Dartmouth College, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College","institution_ids":["https://openalex.org/I107672454","https://openalex.org/I4210166639"]},{"raw_affiliation_string":"[Dartmouth College, USA]","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["Worcester Polytechnic Institute","[Worcester Polytechnic Institute (USA)]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute","institution_ids":["https://openalex.org/I107077323"]},{"raw_affiliation_string":"[Worcester Polytechnic Institute (USA)]","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001178194","display_name":"Devin Balkcom","orcid":"https://orcid.org/0000-0002-6553-5650"},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]},{"id":"https://openalex.org/I4210166639","display_name":"Dartmouth Hospital","ror":"https://ror.org/02j3qj605","country_code":"GB","type":"healthcare","lineage":["https://openalex.org/I4210166639"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Devin Balkcom","raw_affiliation_strings":["Dartmouth College","[Dartmouth College, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dartmouth College","institution_ids":["https://openalex.org/I107672454","https://openalex.org/I4210166639"]},{"raw_affiliation_string":"[Dartmouth College, USA]","institution_ids":["https://openalex.org/I107672454"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.3797,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.92228035,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2488","last_page":"2495"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9965000152587891,"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/rope","display_name":"Rope","score":0.7887181043624878},{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.7606820464134216},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.590807318687439},{"id":"https://openalex.org/keywords/string","display_name":"String (physics)","score":0.5860148668289185},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.450973242521286},{"id":"https://openalex.org/keywords/string-searching-algorithm","display_name":"String searching algorithm","score":0.44734758138656616},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.25386011600494385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24959903955459595},{"id":"https://openalex.org/keywords/pattern-matching","display_name":"Pattern matching","score":0.1278136968612671},{"id":"https://openalex.org/keywords/theoretical-physics","display_name":"Theoretical physics","score":0.07651647925376892}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.7887181043624878},{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.7606820464134216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.590807318687439},{"id":"https://openalex.org/C157486923","wikidata":"https://www.wikidata.org/wiki/Q1376436","display_name":"String (physics)","level":2,"score":0.5860148668289185},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.450973242521286},{"id":"https://openalex.org/C7757238","wikidata":"https://www.wikidata.org/wiki/Q374040","display_name":"String searching algorithm","level":3,"score":0.44734758138656616},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.25386011600494385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24959903955459595},{"id":"https://openalex.org/C68859911","wikidata":"https://www.wikidata.org/wiki/Q1503724","display_name":"Pattern matching","level":2,"score":0.1278136968612671},{"id":"https://openalex.org/C33332235","wikidata":"https://www.wikidata.org/wiki/Q18362","display_name":"Theoretical physics","level":1,"score":0.07651647925376892},{"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/icra.2015.7139532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139532","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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":37,"referenced_works":["https://openalex.org/W304043284","https://openalex.org/W641852170","https://openalex.org/W1527127121","https://openalex.org/W1969865247","https://openalex.org/W1977030886","https://openalex.org/W1988207416","https://openalex.org/W1992787855","https://openalex.org/W2002072140","https://openalex.org/W2006104867","https://openalex.org/W2016143963","https://openalex.org/W2025468671","https://openalex.org/W2034469604","https://openalex.org/W2094827274","https://openalex.org/W2100538121","https://openalex.org/W2101073745","https://openalex.org/W2109998105","https://openalex.org/W2112474089","https://openalex.org/W2114078951","https://openalex.org/W2116039148","https://openalex.org/W2118356379","https://openalex.org/W2124457362","https://openalex.org/W2132714442","https://openalex.org/W2138931081","https://openalex.org/W2145682929","https://openalex.org/W2159791647","https://openalex.org/W2163823715","https://openalex.org/W2165803187","https://openalex.org/W2295237948","https://openalex.org/W2296356821","https://openalex.org/W2323447981","https://openalex.org/W2405643909","https://openalex.org/W2472053385","https://openalex.org/W3139998236","https://openalex.org/W3149513485","https://openalex.org/W6610878807","https://openalex.org/W6684123713","https://openalex.org/W6720215821"],"related_works":["https://openalex.org/W2382190654","https://openalex.org/W2041034200","https://openalex.org/W2373129217","https://openalex.org/W1924903628","https://openalex.org/W2375717371","https://openalex.org/W2883552839","https://openalex.org/W2024445065","https://openalex.org/W2998410131","https://openalex.org/W2462428821","https://openalex.org/W4288309913"],"abstract_inverted_index":{"This":[0,110],"paper":[1],"presents":[2],"a":[3,23,37,70,87,126],"fast":[4],"tight-tolerance":[5],"threading":[6,165],"technique":[7],"for":[8,89],"string":[9,35,63,80,92,124,177],"and":[10,68,106,140,160,179],"rope.":[11],"Instead":[12],"of":[13,17,33,61,75,78,103,108,128,163,175],"relying":[14],"on":[15,94,141],"simulations":[16],"these":[18],"deformable":[19],"objects":[20],"to":[21,49,57,72,81,121,156],"plan":[22],"path":[24],"or":[25],"compute":[26,53],"control":[27,30],"actions,":[28],"we":[29,47],"the":[31,34,44,59,62,65,76,79,82,91,95,98,101,104,123,142,168,173,176],"movement":[32],"with":[36,115,167],"virtual":[38],"magnetic":[39],"vector":[40,66],"field":[41,67],"emanating":[42],"from":[43],"narrow":[45],"openings":[46],"wish":[48],"thread":[50,122],"through.":[51],"We":[52,84,130],"an":[54],"approximate":[55],"Jacobian":[56],"move":[58],"tip":[60],"through":[64,125],"propose":[69,86],"method":[71,88,112,133,152],"promote":[73],"alignment":[74],"head":[77],"opening.":[83],"also":[85],"re-grasping":[90,111],"based":[93],"relationship":[96],"between":[97],"string's":[99],"configuration,":[100],"orientation":[102],"opening,":[105],"direction":[107],"gravity.":[109],"in":[113,134,158],"conjunction":[114],"our":[116,132,151],"controller":[117],"can":[118],"be":[119],"used":[120],"sequence":[127],"openings.":[129],"evaluated":[131],"simulation":[135],"(with":[136],"simulated":[137],"sensor":[138],"noise)":[139],"Da":[143],"Vinci":[144,170],"surgical":[145],"robot.":[146],"Our":[147],"results":[148],"suggest":[149],"that":[150],"is":[153,161],"quite":[154],"robust":[155],"errors":[157],"sensing,":[159],"capable":[162],"real-world":[164],"tasks":[166],"da":[169],"robot,":[171],"where":[172],"diameter":[174],"(3.5mm)":[178],"opening":[180],"(4.9mm)":[181],"differ":[182],"by":[183],"only":[184],"1.4":[185],"mm.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}