{"id":"https://openalex.org/W4285031047","doi":"https://doi.org/10.1109/icra46639.2022.9811740","title":"Online Adaptive Identification and Switching of Soft Contact Model Based on ART-II Method","display_name":"Online Adaptive Identification and Switching of Soft Contact Model Based on ART-II Method","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285031047","doi":"https://doi.org/10.1109/icra46639.2022.9811740"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811740","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","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/A5100330426","display_name":"Yi Liu","orcid":"https://orcid.org/0000-0001-5231-6400"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yi Liu","raw_affiliation_strings":["School of Automation, Guangdong University of Technology,Guangzhou,China","School of Automation, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061391892","display_name":"Di Wu","orcid":"https://orcid.org/0000-0001-8697-1817"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Di Wu","raw_affiliation_strings":["KU Leuven,Department of Mechanical Engineering,Belgium","Department of Mechanical Engineering, KU Leuven, Belgium"],"affiliations":[{"raw_affiliation_string":"KU Leuven,Department of Mechanical Engineering,Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033409552","display_name":"Fengtao Han","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengtao Han","raw_affiliation_strings":["ROKAE Robotics Co.,Ltd,Beijing,China","ROKAE Robotics Co.,Ltd, Beijing, China"],"affiliations":[{"raw_affiliation_string":"ROKAE Robotics Co.,Ltd,Beijing,China","institution_ids":["https://openalex.org/I4210144102"]},{"raw_affiliation_string":"ROKAE Robotics Co.,Ltd, Beijing, China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100445472","display_name":"Jing Guo","orcid":"https://orcid.org/0000-0002-0053-2678"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Guo","raw_affiliation_strings":["School of Automation, Guangdong University of Technology,Guangzhou,China","School of Automation, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021328475","display_name":"Zhaoshui He","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoshui He","raw_affiliation_strings":["School of Automation, Guangdong University of Technology,Guangzhou,China","School of Automation, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology,Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100664416","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0003-0696-3943"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Chao Liu","raw_affiliation_strings":["LIRMM, Univ Montpellier, CNRS,Department of Robotics,Montpellier,France","Department of Robotics, LIRMM, Univ Montpellier, CNRS, Montpellier, France"],"affiliations":[{"raw_affiliation_string":"LIRMM, Univ Montpellier, CNRS,Department of Robotics,Montpellier,France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Department of Robotics, LIRMM, Univ Montpellier, CNRS, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100330426"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.9619,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6985516,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"8855","last_page":"8861"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9879000186920166,"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":0.9879000186920166,"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":0.9794999957084656,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9383999705314636,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6114338636398315},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.519212543964386},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.47933658957481384},{"id":"https://openalex.org/keywords/soft-sensor","display_name":"Soft sensor","score":0.4409276247024536},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.43304935097694397},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.42624229192733765},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4236615300178528},{"id":"https://openalex.org/keywords/soft-computing","display_name":"Soft computing","score":0.41056400537490845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38742777705192566},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3433314263820648},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.21167850494384766},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.08863082528114319},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08080136775970459}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6114338636398315},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.519212543964386},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47933658957481384},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.4409276247024536},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.43304935097694397},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.42624229192733765},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4236615300178528},{"id":"https://openalex.org/C140073362","wikidata":"https://www.wikidata.org/wiki/Q738759","display_name":"Soft computing","level":3,"score":0.41056400537490845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38742777705192566},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3433314263820648},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.21167850494384766},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.08863082528114319},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08080136775970459},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.0},{"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9811740","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811740","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-03859350v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03859350","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2022 - IEEE International Conference on Robotics and Automation, May 2022, Philadelphia, United States. pp.8855-8861, ⟨10.1109/ICRA46639.2022.9811740⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1229110231","display_name":null,"funder_award_id":"61803103","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1502401806","https://openalex.org/W1570351540","https://openalex.org/W2005173275","https://openalex.org/W2019057824","https://openalex.org/W2021521834","https://openalex.org/W2072263212","https://openalex.org/W2090974678","https://openalex.org/W2127765209","https://openalex.org/W2135964318","https://openalex.org/W2152384217","https://openalex.org/W2170120231","https://openalex.org/W2399731623","https://openalex.org/W2418915271","https://openalex.org/W2757789151","https://openalex.org/W2793379827","https://openalex.org/W2888138457","https://openalex.org/W2929307827","https://openalex.org/W2944639335","https://openalex.org/W2973006064","https://openalex.org/W2982377662","https://openalex.org/W2982386732","https://openalex.org/W3003031287","https://openalex.org/W3004209113","https://openalex.org/W3016601897","https://openalex.org/W3036726025","https://openalex.org/W3043317456","https://openalex.org/W3045330125","https://openalex.org/W3091866490","https://openalex.org/W3133097374","https://openalex.org/W3135365533","https://openalex.org/W3165577760","https://openalex.org/W3178455289","https://openalex.org/W3210435954","https://openalex.org/W4210274419","https://openalex.org/W4211225190","https://openalex.org/W4213033724","https://openalex.org/W6791700902","https://openalex.org/W6809030978"],"related_works":["https://openalex.org/W4377700919","https://openalex.org/W2095509376","https://openalex.org/W2097933059","https://openalex.org/W2374290272","https://openalex.org/W4386158748","https://openalex.org/W2533491448","https://openalex.org/W4213425153","https://openalex.org/W2987481998","https://openalex.org/W2378190508","https://openalex.org/W2910348593"],"abstract_inverted_index":{"In":[0,56,134],"order":[1],"to":[2,39,48,75,125,147],"obtain":[3],"a":[4,19,26,89,136],"high-precision":[5],"contact":[6,22,36,84,110,140],"model":[7,23,37,54,72,85,100,122,141],"that":[8,115],"can":[9],"properly":[10],"describe":[11],"the":[12,32,40,50,53,57,67,80,98,116,120,126,131,149,152],"target":[13],"soft":[14,21,35,83,109,139],"tissue,":[15],"this":[16],"paper":[17],"proposes":[18],"hybrid":[20,71,99,121,153],"based":[24],"on":[25,101],"clustering":[27],"algorithm":[28],"ART-II,":[29],"which":[30],"selects":[31],"most":[33,81],"suitable":[34],"according":[38],"surgical":[41],"environment.":[42],"The":[43,70,95,112],"least-square":[44],"method":[45],"is":[46],"used":[47,65,74],"identify":[49,76],"parameters":[51],"of":[52,61,92,97,119,151],"online.":[55],"experiments,":[58],"different":[59],"parts":[60],"animal":[62,93],"tissues":[63],"were":[64],"as":[66],"experimental":[68],"objects.":[69],"was":[73,104,123],"and":[77],"switch":[78],"for":[79],"appropriate":[82],"when":[86],"dealing":[87],"with":[88,106],"certain":[90],"type":[91],"tissue.":[94],"performance":[96],"force":[102,118,132],"estimation":[103],"compared":[105],"several":[107],"individual":[108],"models.":[111],"results":[113],"showed":[114],"estimated/reconstructed":[117],"closer":[124],"ground":[127],"truth":[128],"measured":[129],"by":[130],"sensor.":[133],"addition,":[135],"new":[137],"reference":[138],"has":[142],"been":[143],"purposely":[144],"added":[145],"online":[146],"verify":[148],"expandability":[150],"model.":[154]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}