{"id":"https://openalex.org/W4408281681","doi":"https://doi.org/10.1109/iecon55916.2024.10906044","title":"Trajectory Correction for Glue-Application Task by a Robot Arm Using Force and BiLSTM","display_name":"Trajectory Correction for Glue-Application Task by a Robot Arm Using Force and BiLSTM","publication_year":2024,"publication_date":"2024-11-03","ids":{"openalex":"https://openalex.org/W4408281681","doi":"https://doi.org/10.1109/iecon55916.2024.10906044"},"language":"en","primary_location":{"id":"doi:10.1109/iecon55916.2024.10906044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10906044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","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":null,"display_name":"Yuina Takahashi","orcid":null},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuina Takahashi","raw_affiliation_strings":["Gifu University,Graduate School of Natural Science and Technology,Dept. of Intelligence Science and Engineering,Gifu,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gifu University,Graduate School of Natural Science and Technology,Dept. of Intelligence Science and Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076073690","display_name":"Asato Washizu","orcid":null},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Asato Washizu","raw_affiliation_strings":["Gifu University,Graduate School of Natural Science and Technology,Dept. of Intelligence Science and Engineering,Gifu,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gifu University,Graduate School of Natural Science and Technology,Dept. of Intelligence Science and Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041478361","display_name":"Yoshiyuki Hatta","orcid":"https://orcid.org/0000-0001-7077-5264"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiyuki Hatta","raw_affiliation_strings":["Gifu University,Dept. of Mechanical Engineering,Gifu,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gifu University,Dept. of Mechanical Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079056394","display_name":"Junya Sato","orcid":"https://orcid.org/0000-0003-3829-0405"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junya Sato","raw_affiliation_strings":["Gifu University,Dept. of Mechanical Engineering,Gifu,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gifu University,Dept. of Mechanical Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047042841","display_name":"Kazuaki Ito","orcid":"https://orcid.org/0000-0002-8977-3709"},"institutions":[{"id":"https://openalex.org/I42405503","display_name":"Gifu University","ror":"https://ror.org/024exxj48","country_code":"JP","type":"education","lineage":["https://openalex.org/I42405503"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuaki Ito","raw_affiliation_strings":["Gifu University,Dept. of Mechanical Engineering,Gifu,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gifu University,Dept. of Mechanical Engineering,Gifu,Japan","institution_ids":["https://openalex.org/I42405503"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I42405503"],"apc_list":null,"apc_paid":null,"fwci":0.9277,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.77208999,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9866999983787537,"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":0.9866999983787537,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9552000164985657,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9405999779701233,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/glue","display_name":"GLUE","score":0.9013170003890991},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6686161756515503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6430749893188477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6240360140800476},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.599889874458313},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4954735040664673},{"id":"https://openalex.org/keywords/task-force","display_name":"Task force","score":0.4935508966445923},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45648643374443054},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3320057988166809},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20191094279289246},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07296732068061829},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07108151912689209},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.05142733454704285}],"concepts":[{"id":"https://openalex.org/C2779937294","wikidata":"https://www.wikidata.org/wiki/Q5513666","display_name":"GLUE","level":2,"score":0.9013170003890991},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6686161756515503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6430749893188477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6240360140800476},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.599889874458313},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4954735040664673},{"id":"https://openalex.org/C2985871740","wikidata":"https://www.wikidata.org/wiki/Q1637368","display_name":"Task force","level":2,"score":0.4935508966445923},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45648643374443054},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3320057988166809},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20191094279289246},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07296732068061829},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07108151912689209},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.05142733454704285},{"id":"https://openalex.org/C3116431","wikidata":"https://www.wikidata.org/wiki/Q31728","display_name":"Public administration","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon55916.2024.10906044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10906044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","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":11,"referenced_works":["https://openalex.org/W1994197355","https://openalex.org/W2014081690","https://openalex.org/W2326554210","https://openalex.org/W3105207700","https://openalex.org/W3137557784","https://openalex.org/W3208014101","https://openalex.org/W4214501175","https://openalex.org/W4226238043","https://openalex.org/W4310969691","https://openalex.org/W4323338344","https://openalex.org/W4392405809"],"related_works":["https://openalex.org/W1975401649","https://openalex.org/W2106011737","https://openalex.org/W2388885029","https://openalex.org/W1972902811","https://openalex.org/W1976956594","https://openalex.org/W2099329408","https://openalex.org/W4390490075","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2362018761"],"abstract_inverted_index":{"In":[0,31,208],"this":[1,100,145,151,180,209,214],"paper,":[2],"we":[3,34,211],"propose":[4],"a":[5,26,29,45,128],"trajectory":[6,49,163],"correction":[7,157],"method":[8],"that":[9],"utilizes":[10],"force":[11,51,82,106,165],"and":[12,50,91,107,164,171],"bidirectional":[13],"long":[14,129],"short-term":[15],"memory":[16],"(BiLSTM)":[17],"to":[18,68,85,110,159,185],"reproduce":[19],"the":[20,32,37,41,55,58,61,70,75,81,86,89,95,112,115,120,138,162,168,174,187],"delicate":[21],"glue-application":[22,42,72,175],"task":[23,43,73,176],"performed":[24],"by":[25,167],"human":[27],"on":[28],"robot.":[30],"system":[33],"have":[35],"developed,":[36],"operator":[38],"initially":[39],"performs":[40],"using":[44],"teaching":[46,135,169,194],"device.":[47],"The":[48,131],"are":[52,136],"recorded":[53,62,166],"during":[54,173],"task.":[56],"If":[57],"robot":[59,90,121,172],"follows":[60],"trajectory,":[63,189],"it":[64],"can":[65],"be":[66],"expected":[67],"perform":[69],"same":[71],"as":[74],"human.":[76],"However,":[77],"large":[78],"errors":[79],"in":[80,94,150],"occur":[83],"owing":[84],"deflection":[87],"of":[88,134,197],"individual":[92],"differences":[93],"application":[96],"tool.":[97],"To":[98,143,153],"minimize":[99],"problem,":[101,146],"our":[102],"previous":[103],"study":[104],"used":[105,149],"iterative":[108,125,160],"learning":[109,126,184,206],"correct":[111,186],"trajectory.":[113],"Although":[114],"error":[116],"was":[117,148],"reduced,":[118],"running":[119],"multiple":[122],"times":[123],"for":[124,191],"took":[127],"time.":[130],"more":[132],"types":[133],"learned,":[137],"longer":[139],"time":[140],"is":[141,215],"required.":[142],"solve":[144],"BiLSTM":[147,155],"study.":[152],"make":[154],"learn":[156],"equivalent":[158],"learning,":[161],"device":[170],"were":[177],"used.":[178],"Achieving":[179],"should":[181],"allow":[182],"deep":[183],"robot\u2019s":[188],"even":[190],"an":[192],"unknown":[193],"move,":[195],"because":[196],"its":[198],"better":[199],"generalization":[200],"performance":[201],"compared":[202],"with":[203],"other":[204],"machine":[205],"algorithms.":[207],"study,":[210],"investigated":[212],"whether":[213],"possible.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
