{"id":"https://openalex.org/W2205727652","doi":"https://doi.org/10.1109/iros.2015.7353947","title":"Robotic needle threading manipulation based on high-speed motion strategy using high-speed visual feedback","display_name":"Robotic needle threading manipulation based on high-speed motion strategy using high-speed visual feedback","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2205727652","doi":"https://doi.org/10.1109/iros.2015.7353947","mag":"2205727652"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353947","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":"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/A5060068072","display_name":"Shouren Huang","orcid":"https://orcid.org/0000-0003-4605-3135"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shouren Huang","raw_affiliation_strings":["Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019385536","display_name":"Yuji Yamakawa","orcid":"https://orcid.org/0000-0002-2880-7055"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuji Yamakawa","raw_affiliation_strings":["Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020949070","display_name":"Taku Senoo","orcid":"https://orcid.org/0000-0002-8531-1590"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taku Senoo","raw_affiliation_strings":["Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010897098","display_name":"Masatoshi Ishikawa","orcid":"https://orcid.org/0000-0002-6096-830X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Ishikawa","raw_affiliation_strings":["Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060068072"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.3403,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.66162229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4041","last_page":"4046"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9930999875068665,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/thread","display_name":"Thread (computing)","score":0.7894501686096191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7279561758041382},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.5691130757331848},{"id":"https://openalex.org/keywords/threading","display_name":"Threading (protein sequence)","score":0.5084330439567566},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48189646005630493},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4565216898918152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41408810019493103},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3582059144973755},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.20768070220947266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14159661531448364}],"concepts":[{"id":"https://openalex.org/C138101251","wikidata":"https://www.wikidata.org/wiki/Q213092","display_name":"Thread (computing)","level":2,"score":0.7894501686096191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7279561758041382},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.5691130757331848},{"id":"https://openalex.org/C200307862","wikidata":"https://www.wikidata.org/wiki/Q7797175","display_name":"Threading (protein sequence)","level":3,"score":0.5084330439567566},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48189646005630493},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4565216898918152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41408810019493103},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3582059144973755},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.20768070220947266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14159661531448364},{"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/C47701112","wikidata":"https://www.wikidata.org/wiki/Q735188","display_name":"Protein structure","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C46141821","wikidata":"https://www.wikidata.org/wiki/Q209402","display_name":"Nuclear magnetic resonance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353947","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/W1977030886","https://openalex.org/W2024464707","https://openalex.org/W2100538751","https://openalex.org/W2123197998","https://openalex.org/W2133216470","https://openalex.org/W2154634796","https://openalex.org/W2157129648","https://openalex.org/W2158670096","https://openalex.org/W2322105083","https://openalex.org/W6656431279"],"related_works":["https://openalex.org/W2058965144","https://openalex.org/W2164382479","https://openalex.org/W4301271647","https://openalex.org/W610674475","https://openalex.org/W2081176028","https://openalex.org/W1480590506","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3096423577","https://openalex.org/W2004481982"],"abstract_inverted_index":{"Realizing":[0],"accurate":[1],"robotic":[2,61],"manipulation":[3,14,81],"of":[4,86,146],"flexible":[5],"objects":[6],"is":[7,95,136,153],"very":[8,99,188],"challenging.":[9],"It":[10],"asks":[11],"for":[12,167],"dexterous":[13],"skill,":[15],"and":[16,73,143,150],"demands":[17],"good":[18],"adaptation":[19],"to":[20,24,77,169,185],"dynamic":[21],"uncertainties":[22],"due":[23],"deformation.":[25],"Unlike":[26],"traditional":[27],"methods":[28,163],"that":[29,104,176],"basically":[30],"depend":[31],"on":[32,45,97,157],"complex":[33],"modeling,":[34],"we":[35],"follow":[36],"the":[37,80,84,90,112,123,129,132,144,158,171,177,181],"opposite":[38],"approach":[39,179],"by":[40,69,105,122],"exploring":[41],"possible":[42,166],"simplifications":[43],"based":[44,96],"high-speed":[46,52,75],"motion":[47],"strategy":[48,76],"as":[49,51,117],"well":[50],"visual":[53],"sensing.":[54],"As":[55],"an":[56],"application":[57],"task":[58,184],"concerned":[59],"with":[60,109],"needle":[62,133,182],"threading,":[63],"this":[64],"work":[65],"demonstrates":[66],"our":[67],"philosophy":[68],"proposing":[70],"a":[71,98,107,118,139],"novel":[72],"straightforward":[74],"speed":[78],"up":[79],"while":[82],"solves":[83],"issue":[85],"deformation":[87],"uncertainty":[88],"at":[89],"same":[91],"time.":[92],"The":[93],"methodology":[94],"simple":[100,161],"physical":[101],"fact,":[102],"namely":[103],"rotating":[106],"thread":[108,113,152],"sufficient":[110],"velocity,":[111],"can":[114],"be":[115,186],"approximated":[116],"rigid":[119],"object":[120],"caused":[121],"constantly":[124],"applied":[125],"centrifugal":[126],"force":[127],"during":[128],"rotation.":[130],"Therefore,":[131],"threading":[134,183],"problem":[135],"converted":[137],"into":[138],"simpler":[140],"peg-insertion":[141],"problem,":[142],"complexity":[145],"interaction":[147],"between":[148],"robot":[149],"deformable":[151],"significantly":[154],"simplified.":[155],"Based":[156],"proposed":[159,178],"strategy,":[160],"technical":[162],"then":[164],"become":[165],"adoption":[168],"accomplish":[170],"challenging":[172],"task.":[173],"Experiments":[174],"show":[175],"allows":[180],"realized":[187],"rapidly.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}
