{"id":"https://openalex.org/W3133324071","doi":"https://doi.org/10.1109/iros45743.2020.9341719","title":"Acoustic Collision Detection and Localization for Robot Manipulators","display_name":"Acoustic Collision Detection and Localization for Robot Manipulators","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3133324071","doi":"https://doi.org/10.1109/iros45743.2020.9341719","mag":"3133324071"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341719","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/A5101588749","display_name":"Xiaoran Fan","orcid":"https://orcid.org/0000-0002-6368-9250"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaoran Fan","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101865131","display_name":"Daewon Lee","orcid":"https://orcid.org/0000-0002-3004-2901"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daewon Lee","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100400896","display_name":"Yuan Chen","orcid":"https://orcid.org/0000-0002-2278-6716"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuan Chen","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058284976","display_name":"Colin Prepscius","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colin Prepscius","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033839227","display_name":"Volkan Isler","orcid":"https://orcid.org/0000-0002-0868-5441"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Volkan Isler","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109143371","display_name":"Larry Jackel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Larry Jackel","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044273339","display_name":"H. Sebastian Seung","orcid":"https://orcid.org/0000-0002-8591-6733"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Sebastian Seung","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100392980","display_name":"Daniel Lee","orcid":"https://orcid.org/0000-0001-9447-4175"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Lee","raw_affiliation_strings":["Samsung AI Center NY, New York, New York"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center NY, New York, New York","institution_ids":["https://openalex.org/I4210101778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8249,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.8645317,"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":"9529","last_page":"9536"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11309","display_name":"Music and Audio Processing","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7602609395980835},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7546533942222595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7098577618598938},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5845023393630981},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5442032217979431},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5356169939041138},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.4791940152645111},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.430675745010376},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3775039315223694},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3269507884979248}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7602609395980835},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7546533942222595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7098577618598938},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5845023393630981},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5442032217979431},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5356169939041138},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4791940152645111},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.430675745010376},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3775039315223694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3269507884979248},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341719","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1589397182","https://openalex.org/W1966198251","https://openalex.org/W1974305624","https://openalex.org/W1983553030","https://openalex.org/W1990637839","https://openalex.org/W2002589631","https://openalex.org/W2036946260","https://openalex.org/W2104422351","https://openalex.org/W2110884158","https://openalex.org/W2116113712","https://openalex.org/W2126654773","https://openalex.org/W2137927693","https://openalex.org/W2149085596","https://openalex.org/W2155771977","https://openalex.org/W2217681286","https://openalex.org/W2413169814","https://openalex.org/W2512543059","https://openalex.org/W2565027118","https://openalex.org/W2753969197","https://openalex.org/W2762248135","https://openalex.org/W2941380861","https://openalex.org/W2964738465","https://openalex.org/W2966953015","https://openalex.org/W3024599551","https://openalex.org/W4318210513","https://openalex.org/W6682491578"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3005999311","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2257960210","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W2021628292"],"abstract_inverted_index":{"Collision":[0],"detection":[1,27,152],"is":[2,86,101],"critical":[3],"for":[4,24,112],"safe":[5,108],"robot":[6,36,113],"operation":[7],"in":[8,160],"the":[9,55,76],"presence":[10],"of":[11,78,124,132,166,174],"humans.":[12],"Acoustic":[13],"information":[14,32],"originating":[15],"from":[16,33,43],"collisions":[17,64],"between":[18],"robots":[19],"and":[20,28,45,61,85,106,109,118],"objects":[21],"provides":[22],"opportunities":[23],"fast":[25],"collision":[26,80,151],"localization;":[29],"however,":[30],"audio":[31],"microphones":[34,127],"on":[35,128],"manipulators":[37],"needs":[38],"to":[39,58,89,104,136],"be":[40],"robustly":[41],"differentiated":[42],"motors":[44],"external":[46],"noise":[47,162],"sources.":[48],"In":[49,164],"this":[50],"paper,":[51],"we":[52],"present":[53,69],"Panotti,":[54],"first":[56],"system":[57],"efficiently":[59],"detect":[60],"localize":[62,75],"on-robot":[63,148],"using":[65,93],"low-cost":[66],"microphones.":[67],"We":[68,116],"a":[70,79,94,120,129],"novel":[71],"algorithm":[72],"that":[73,122,143],"can":[74],"source":[77],"with":[81,154],"centimeter":[82],"level":[83],"accuracy":[84],"also":[87],"able":[88],"reject":[90],"false":[91,157],"detections":[92,158],"robust":[95],"spectral":[96],"filtering":[97],"scheme.":[98],"Our":[99],"method":[100],"scalable,":[102],"easy":[103],"deploy,":[105],"enables":[107],"efficient":[110],"control":[111],"manipulator":[114,135],"applications.":[115],"implement":[117],"demonstrate":[119],"prototype":[121],"consists":[123],"8":[125],"miniature":[126],"7":[130],"degree":[131],"freedom":[133],"(DOF)":[134],"validate":[137],"our":[138],"design.":[139],"Extensive":[140],"experiments":[141],"show":[142],"Panotti":[144],"realizes":[145],"near":[146],"perfect":[147],"true":[149],"positive":[150],"rate":[153],"almost":[155],"zero":[156],"even":[159],"high":[161],"environments.":[163],"terms":[165],"accuracy,":[167],"it":[168],"achieves":[169],"an":[170],"average":[171],"localization":[172],"error":[173],"less":[175],"than":[176],"3.8":[177],"cm":[178],"under":[179],"various":[180],"experimental":[181],"settings.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
