{"id":"https://openalex.org/W1966487689","doi":"https://doi.org/10.1109/iros.2014.6943202","title":"Automated guidance of peg-in-hole assembly tasks for complex-shaped parts","display_name":"Automated guidance of peg-in-hole assembly tasks for complex-shaped parts","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1966487689","doi":"https://doi.org/10.1109/iros.2014.6943202","mag":"1966487689"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943202","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5078465913","display_name":"Hee-Chan Song","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hee-Chan Song","raw_affiliation_strings":["Mechanical Engineering Department, Korea University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047603222","display_name":"Young-Loul Kim","orcid":"https://orcid.org/0000-0002-2432-4881"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-Loul Kim","raw_affiliation_strings":["Mechanical Engineering Department, Korea University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013838439","display_name":"Jae-Bok Song","orcid":"https://orcid.org/0000-0002-5818-1938"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Bok Song","raw_affiliation_strings":["Mechanical Engineering Department, Korea University, Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I197347611"],"apc_list":null,"apc_paid":null,"fwci":3.7306,"has_fulltext":false,"cited_by_count":59,"citation_normalized_percentile":{"value":0.93128223,"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":"4517","last_page":"4522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983999729156494,"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"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/cad","display_name":"CAD","score":0.7022382020950317},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6430896520614624},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6251672506332397},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.6113978028297424},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.5374115109443665},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4921378493309021},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4663523733615875},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.45595860481262207},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.44266849756240845},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41850659251213074},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3226766586303711},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.31650835275650024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2790137827396393},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2316298484802246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21778184175491333},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13149061799049377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10613706707954407}],"concepts":[{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.7022382020950317},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6430896520614624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6251672506332397},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.6113978028297424},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.5374115109443665},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4921378493309021},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4663523733615875},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.45595860481262207},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.44266849756240845},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41850659251213074},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3226766586303711},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.31650835275650024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2790137827396393},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2316298484802246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21778184175491333},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13149061799049377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10613706707954407},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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":1,"locations":[{"id":"doi:10.1109/iros.2014.6943202","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943202","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.46000000834465027,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1594265855","https://openalex.org/W1938885652","https://openalex.org/W1967507262","https://openalex.org/W2032527550","https://openalex.org/W2091547714","https://openalex.org/W2118608021","https://openalex.org/W2120016017","https://openalex.org/W2130506984","https://openalex.org/W2132177469"],"related_works":["https://openalex.org/W2786196354","https://openalex.org/W4399374581","https://openalex.org/W2071387541","https://openalex.org/W1983135609","https://openalex.org/W2789837488","https://openalex.org/W4229014760","https://openalex.org/W2786003999","https://openalex.org/W4378965995","https://openalex.org/W4286306226","https://openalex.org/W4211071060"],"abstract_inverted_index":{"To":[0],"prevent":[1],"the":[2,58,81,94],"failure":[3],"of":[4,93,103],"peg-in-hole":[5],"assembly":[6,15,32,89],"tasks":[7],"involving":[8],"geometrically":[9],"complex":[10],"parts,":[11,59],"a":[12,61,101],"force":[13,39,83,87],"control-based":[14],"strategy":[16,33],"that":[17],"takes":[18],"geometric":[19,44,55],"information":[20,45,56],"into":[21],"account":[22],"is":[23,63,77],"required.":[24],"Therefore,":[25],"in":[26],"this":[27],"study,":[28],"we":[29],"propose":[30],"an":[31,73],"for":[34],"complex-shaped":[35,107],"parts":[36],"which":[37],"performs":[38],"control":[40,75,80],"based":[41],"on":[42],"visually-obtained":[43],"and":[46,60,69],"CAD":[47,49],"models.":[48],"models":[50],"are":[51],"used":[52,64,78],"to":[53,65,79,84],"obtain":[54],"about":[57],"camera":[62],"track":[66],"their":[67],"position":[68],"orientation.":[70],"In":[71],"addition,":[72],"impedance":[74],"scheme":[76],"contact":[82],"avoid":[85],"excessive":[86],"during":[88],"tasks.":[90],"The":[91],"performance":[92],"proposed":[95],"guidance":[96],"algorithm":[97],"was":[98],"evaluated":[99],"by":[100],"series":[102],"experiments":[104],"using":[105],"arbitrary":[106],"parts.":[108]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":4}],"updated_date":"2026-08-11T07:18:39.950985","created_date":"2025-10-10T00:00:00"}