{"id":"https://openalex.org/W3130047870","doi":"https://doi.org/10.1109/iros45743.2020.9341423","title":"Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers","display_name":"Blind Bin Picking of Small Screws Through In-finger Manipulation With Compliant Robotic Fingers","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130047870","doi":"https://doi.org/10.1109/iros45743.2020.9341423","mag":"3130047870"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5036123455","display_name":"Matthew Ishige","orcid":"https://orcid.org/0000-0003-0601-7586"},"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":"Matthew Ishige","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040511727","display_name":"Takuya Umedachi","orcid":"https://orcid.org/0000-0002-2244-9963"},"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":"Takuya Umedachi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000119898","display_name":"Yoshihisa Ijiri","orcid":null},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihisa Ijiri","raw_affiliation_strings":["OMRON SINIC X Corporation, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023160093","display_name":"Tadahiro Taniguchi","orcid":"https://orcid.org/0000-0002-5682-2076"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadahiro Taniguchi","raw_affiliation_strings":["Ritsumeikan University, Kusatsu, Japan"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069381472","display_name":"Yoshihiro Kawahara","orcid":"https://orcid.org/0000-0002-0310-2577"},"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":"Yoshihiro Kawahara","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036123455"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.7356,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.72222222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9337","last_page":"9344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994000196456909,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9955000281333923,"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/grasp","display_name":"GRASP","score":0.7922598123550415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7010071277618408},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.670841634273529},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6237305402755737},{"id":"https://openalex.org/keywords/thumb","display_name":"Thumb","score":0.5844972133636475},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5749947428703308},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5055923461914062},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.504120945930481},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.47980478405952454},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43074941635131836},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22773423790931702}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7922598123550415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7010071277618408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.670841634273529},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6237305402755737},{"id":"https://openalex.org/C2776881184","wikidata":"https://www.wikidata.org/wiki/Q83360","display_name":"Thumb","level":2,"score":0.5844972133636475},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5749947428703308},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5055923461914062},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.504120945930481},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.47980478405952454},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43074941635131836},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22773423790931702},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":44,"referenced_works":["https://openalex.org/W1558521349","https://openalex.org/W2026499961","https://openalex.org/W2080317558","https://openalex.org/W2200175238","https://openalex.org/W2340935928","https://openalex.org/W2343757578","https://openalex.org/W2397232755","https://openalex.org/W2485911221","https://openalex.org/W2567050476","https://openalex.org/W2612144999","https://openalex.org/W2687523990","https://openalex.org/W2743209907","https://openalex.org/W2770901093","https://openalex.org/W2773698651","https://openalex.org/W2775635818","https://openalex.org/W2783627282","https://openalex.org/W2802840089","https://openalex.org/W2810773383","https://openalex.org/W2900152462","https://openalex.org/W2901112449","https://openalex.org/W2904246096","https://openalex.org/W2910077286","https://openalex.org/W2921150444","https://openalex.org/W2945136467","https://openalex.org/W2945720286","https://openalex.org/W2967936796","https://openalex.org/W2969180157","https://openalex.org/W3030520603","https://openalex.org/W3036063690","https://openalex.org/W3038415847","https://openalex.org/W3101283005","https://openalex.org/W3104208381","https://openalex.org/W4231327205","https://openalex.org/W4235910938","https://openalex.org/W4288294128","https://openalex.org/W4289294484","https://openalex.org/W4299490652","https://openalex.org/W6751497200","https://openalex.org/W6756256016","https://openalex.org/W6757592117","https://openalex.org/W6762006211","https://openalex.org/W6765407481","https://openalex.org/W6768008868","https://openalex.org/W6768455653"],"related_works":["https://openalex.org/W4312443287","https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W3133406196","https://openalex.org/W4210583734","https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W2968390578","https://openalex.org/W4287201739"],"abstract_inverted_index":{"Although":[0],"picking":[1,36],"up":[2,57],"objects":[3,59,75],"a":[4,10,17,24,37,41,61,65,80,97,104,120,128,153,185,190],"few":[5],"centimeters":[6],"in":[7,16,85,114,184,209],"size":[8],"is":[9],"common":[11],"task,":[12],"achieving":[13],"such":[14,175],"ability":[15],"robot":[18,192],"manipulator":[19],"remains":[20],"challenging.":[21],"We":[22,102,157],"take":[23],"step":[25],"toward":[26],"solving":[27],"this":[28,93,160],"problem":[29],"by":[30,53],"focusing":[31],"on":[32,92],"the":[33,50,86,110,115,136,163,178,181,215,217,232],"task":[34],"of":[35,112,139,224],"1.0-cm":[38],"screw":[39,99,129,206],"from":[40,60],"bulk":[42],"bin":[43],"using":[44,130],"only":[45],"tactile":[46,141],"information":[47],"to":[48,108,126,170,229],"achieve":[49,230],"task.":[51],"Inspired":[52],"how":[54],"humans":[55],"pick":[56],"small":[58],"bin,":[62],"we":[63,95,144,188],"propose":[64,189],"\"grasp-separate\"":[66],"strategy":[67],"for":[68,88,135],"robotic":[69,89,212],"picking,":[70],"which":[71,148,226],"involves":[72],"grasping":[73],"many":[74],"first":[76,117],"and":[77,118,166,180],"then":[78],"separating":[79],"single":[81],"object":[82],"through":[83],"manipulation":[84,124,167,234],"fingers,":[87],"picking.":[90],"Based":[91],"strategy,":[94],"developed":[96],"tactile-based":[98],"bin-picking":[100],"system.":[101],"trained":[103],"convolution":[105],"neural":[106],"network":[107],"estimate":[109],"number":[111],"screws":[113],"fingers":[116],"built":[119],"controller":[121],"that":[122,159,195],"generates":[123],"behaviors":[125,208],"separate":[127],"reinforcement":[131],"learning.":[132],"To":[133],"compensate":[134],"low":[137],"resolution":[138],"off-the-shelf":[140],"sensor":[142],"arrays,":[143],"adopted":[145],"active":[146],"sensing,":[147],"uses":[149],"observations":[150],"obtained":[151,219],"during":[152],"predefined":[154],"simple":[155],"movement.":[156],"show":[158],"approach":[161],"enhances":[162],"estimation":[164],"accuracy":[165],"performance.":[168],"Furthermore,":[169],"enable":[171],"flexible":[172],"finger":[173,183,193],"motion,":[174],"as":[176],"between":[177],"thumb":[179],"index":[182],"human":[186],"hand,":[187],"soft":[191,200,211],"structure":[194],"leverages":[196],"compliant":[197,210],"materials.":[198],"A":[199],"actor-critic":[201],"algorithm":[202],"successfully":[203],"found":[204],"dexterous":[205],"separation":[207],"fingers.":[213],"In":[214],"evaluation,":[216],"system":[218],"an":[220],"average":[221],"success":[222],"rate":[223],"80%,":[225],"was":[227],"difficult":[228],"without":[231],"grasp-separate":[233],"technique.":[235]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
