{"id":"https://openalex.org/W2973193942","doi":"https://doi.org/10.1109/icra40945.2020.9196623","title":"Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification","display_name":"Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2973193942","doi":"https://doi.org/10.1109/icra40945.2020.9196623","mag":"2973193942"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.07247","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076899063","display_name":"Art\u016bras Strai\u017eys","orcid":"https://orcid.org/0000-0001-7569-2265"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Arturas Straizys","raw_affiliation_strings":["School of Informatics, University of Edinburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059032849","display_name":"Michael Burke","orcid":"https://orcid.org/0000-0001-7426-1498"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Burke","raw_affiliation_strings":["School of Informatics, University of Edinburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071122608","display_name":"Subramanian Ramamoorthy","orcid":"https://orcid.org/0000-0002-6300-5103"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Subramanian Ramamoorthy","raw_affiliation_strings":["School of Informatics, University of Edinburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4623","last_page":"4629"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9739999771118164,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7515811920166016},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6512861847877502},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.5672376751899719},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5625330209732056},{"id":"https://openalex.org/keywords/binary-classification","display_name":"Binary classification","score":0.48787569999694824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47379085421562195},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.4681079089641571},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4443514347076416},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41740691661834717},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3872455954551697},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32779964804649353},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3258221447467804},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.263164222240448},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2264460325241089},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2044726312160492},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.083884596824646}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7515811920166016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6512861847877502},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.5672376751899719},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5625330209732056},{"id":"https://openalex.org/C66905080","wikidata":"https://www.wikidata.org/wiki/Q17005494","display_name":"Binary classification","level":3,"score":0.48787569999694824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47379085421562195},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.4681079089641571},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4443514347076416},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41740691661834717},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3872455954551697},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32779964804649353},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3258221447467804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.263164222240448},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2264460325241089},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2044726312160492},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.083884596824646},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"mag:2973193942","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1909.07247","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:pure.ed.ac.uk:openaire/df925226-4847-4787-b458-1e01d51b4765","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/df925226-4847-4787-b458-1e01d51b4765","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Straizys, A, Burke, M & Ramamoorthy, S 2020, Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification. in 2020 IEEE International Conference on Robotics and Automation (ICRA). Institute of Electrical and Electronics Engineers, pp. 4623-4629, 2020 International Conference on Robotics and Automation, Virtual conference, France, 31/05/20. https://doi.org/10.1109/ICRA40945.2020.9196623","raw_type":"contributionToPeriodical"},{"id":"doi:10.48550/arxiv.1909.07247","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.07247","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"mag:2973193942","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1909.07247","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.699999988079071,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W251810509","https://openalex.org/W1975135842","https://openalex.org/W1979709633","https://openalex.org/W2057299504","https://openalex.org/W2063727382","https://openalex.org/W2075673359","https://openalex.org/W2080317558","https://openalex.org/W2094808257","https://openalex.org/W2100235553","https://openalex.org/W2121229926","https://openalex.org/W2134126405","https://openalex.org/W2136719407","https://openalex.org/W2138648596","https://openalex.org/W2157532279","https://openalex.org/W2160609165","https://openalex.org/W2161395589","https://openalex.org/W2169136412","https://openalex.org/W2172158418","https://openalex.org/W2281096776","https://openalex.org/W2569244399","https://openalex.org/W2622604310","https://openalex.org/W2765142410","https://openalex.org/W2967092886","https://openalex.org/W2967936796","https://openalex.org/W3003320176","https://openalex.org/W4234794606","https://openalex.org/W6738980247","https://openalex.org/W6773231521"],"related_works":["https://openalex.org/W3006184833","https://openalex.org/W2091171936","https://openalex.org/W3034015697","https://openalex.org/W2922390560","https://openalex.org/W3007165070","https://openalex.org/W3129982055","https://openalex.org/W2006261910","https://openalex.org/W2774830445","https://openalex.org/W3130608335","https://openalex.org/W2806698908","https://openalex.org/W3152883941","https://openalex.org/W2801913747","https://openalex.org/W2923120257","https://openalex.org/W2775037911","https://openalex.org/W3101870171","https://openalex.org/W2916837778","https://openalex.org/W2950688942","https://openalex.org/W3090116329","https://openalex.org/W1964165008","https://openalex.org/W3092601110"],"abstract_inverted_index":{"Precision":[0],"cutting":[1,28,55,107],"of":[2,18,27,53,98,144,160],"soft-tissue":[3],"remains":[4],"a":[5,36,63,71,81,105,111,151],"challenging":[6],"problem":[7,37],"in":[8,94,141,146,157],"robotics,":[9],"due":[10,43],"to":[11,44,66,119,148],"the":[12,25,30,50,54,95,99,121],"complex":[13],"and":[14,80,126],"unpredictable":[15],"mechanical":[16],"behaviour":[17],"tissue":[19],"under":[20],"manipulation.":[21],"Here,":[22],"we":[23],"consider":[24],"challenge":[26],"along":[29],"boundary":[31,97,122],"between":[32,123],"two":[33],"soft":[34],"mediums,":[35],"that":[38,49,86,135],"is":[39,57,139],"made":[40],"extremely":[41],"difficult":[42],"visibility":[45],"constraints,":[46],"which":[47,154],"means":[48],"precise":[51],"location":[52],"trajectory":[56,113],"typically":[58],"unknown.":[59],"This":[60],"paper":[61],"introduces":[62],"novel":[64],"strategy":[65,138],"address":[67],"this":[68,103,136],"task,":[69,108],"using":[70,76,115,128,150],"binary":[72],"medium":[73,131],"classifier":[74],"trained":[75],"joint":[77],"torque":[78,129],"measurements,":[79],"closed":[82],"loop":[83],"control":[84,137,149],"law":[85],"relies":[87],"on":[88,104],"an":[89],"error":[90],"signal":[91],"compactly":[92],"encoded":[93],"decision":[96],"classifier.":[100],"We":[101],"illustrate":[102],"grapefruit":[106,124],"successfully":[109],"modulating":[110],"nominal":[112,152],"t":[114],"dynamic":[116],"movement":[117],"primitives":[118],"follow":[120],"pulp":[125],"peel":[127],"based":[130],"classification.":[132],"Results":[133],"show":[134],"successful":[140],"72":[142],"%":[143,159],"attempts":[145],"contrast":[147],"trajectory,":[153],"only":[155],"succeeds":[156],"50":[158],"attempts.":[161]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}