{"id":"https://openalex.org/W2210732859","doi":"https://doi.org/10.1109/iros.2015.7353871","title":"Depth-based localization for robotic peg-in-tube assembly","display_name":"Depth-based localization for robotic peg-in-tube assembly","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2210732859","doi":"https://doi.org/10.1109/iros.2015.7353871","mag":"2210732859"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353871","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5022246915","display_name":"Arun Dayal Udai","orcid":"https://orcid.org/0000-0001-9629-1110"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arun Dayal Udai","raw_affiliation_strings":["Department of Mechanical Engineering, IIT, Delhi"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IIT, Delhi","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065087914","display_name":"Ravi Prakash Joshi","orcid":"https://orcid.org/0000-0003-1264-6100"},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ravi Prakash Joshi","raw_affiliation_strings":["Indian Institute of Technology Guwahati, Guwahati, Assam, IN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Guwahati, Guwahati, Assam, IN","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037739037","display_name":"Subir Kumar Saha","orcid":"https://orcid.org/0000-0002-3681-8061"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Subir Kumar Saha","raw_affiliation_strings":["Department of Mechanical Engineering, IIT, Delhi"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IIT, Delhi","institution_ids":["https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4484,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79198249,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3538","last_page":"3543"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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":0.9990000128746033,"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/peg-ratio","display_name":"PEG ratio","score":0.8772828578948975},{"id":"https://openalex.org/keywords/tube","display_name":"Tube (container)","score":0.8169205188751221},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7543511390686035},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7325567007064819},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6140742301940918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5255014896392822},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.4187593460083008},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4157561659812927},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.40094175934791565},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29562896490097046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2677724361419678},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.10507950186729431}],"concepts":[{"id":"https://openalex.org/C54400483","wikidata":"https://www.wikidata.org/wiki/Q1793202","display_name":"PEG ratio","level":2,"score":0.8772828578948975},{"id":"https://openalex.org/C2777551473","wikidata":"https://www.wikidata.org/wiki/Q2093072","display_name":"Tube (container)","level":2,"score":0.8169205188751221},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7543511390686035},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7325567007064819},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6140742301940918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5255014896392822},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.4187593460083008},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4157561659812927},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.40094175934791565},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29562896490097046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2677724361419678},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.10507950186729431},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353871","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353871","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":10,"referenced_works":["https://openalex.org/W1967507262","https://openalex.org/W1992524687","https://openalex.org/W2002739521","https://openalex.org/W2035813292","https://openalex.org/W2072150766","https://openalex.org/W2129190609","https://openalex.org/W2132005662","https://openalex.org/W2151545824","https://openalex.org/W2539574638","https://openalex.org/W6668644769"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W1485630101","https://openalex.org/W2498017833","https://openalex.org/W2070338563","https://openalex.org/W112744582","https://openalex.org/W3081841992","https://openalex.org/W2030059621","https://openalex.org/W3198752496","https://openalex.org/W2296038012","https://openalex.org/W2344853625"],"abstract_inverted_index":{"Peg-in-tube":[0],"assembly":[1,53],"stands":[2],"ahead":[3],"of":[4,50,64,94],"a":[5,28,35,46,57,76,83,88,91],"more":[6],"common":[7],"benchmark":[8],"task":[9,30],"for":[10],"industrial":[11,80],"assembly,":[12],"i.e.,":[13],"`pegin-hole'.":[14],"The":[15,43,71],"robot":[16,81],"can":[17],"easily":[18],"be":[19],"deceived":[20],"to":[21,67],"detect":[22],"the":[23,32,41,51],"actual":[24],"hole":[25],"while":[26],"performing":[27],"`peg-in-tube'":[29,52,69],"as":[31],"tube":[33,89],"has":[34],"surrounding":[36],"pocket":[37],"that":[38],"cannot":[39],"support":[40],"peg.":[42],"paper":[44],"presents":[45],"thorough":[47],"geometrical":[48],"analysis":[49],"process,":[54],"and":[55,87],"proposes":[56],"novel":[58],"algorithm":[59],"based":[60],"on":[61,75],"depth":[62],"measurements":[63],"peg":[65,86],"center":[66],"perform":[68],"task.":[70],"results":[72],"are":[73],"demonstrated":[74],"KUKA":[77],"KR5":[78],"Arc":[79],"with":[82],"chamferless":[84],"cylindrical":[85],"having":[90],"minimum":[92],"clearance":[93],"0.10":[95],"mm.":[96]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
