{"id":"https://openalex.org/W4312865818","doi":"https://doi.org/10.1109/iros47612.2022.9981174","title":"Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor","display_name":"Slip Anticipation for Grasping Deformable Objects Using a Soft Force Sensor","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312865818","doi":"https://doi.org/10.1109/iros47612.2022.9981174"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981174","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/192207","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038475845","display_name":"Euan Judd","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Euan Judd","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lausanne,Laberatory of Intelligent Systems,Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lausanne,Laberatory of Intelligent Systems,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030716707","display_name":"Bekir Aksoy","orcid":"https://orcid.org/0000-0001-8052-9411"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Bekir Aksoy","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lau-sanne,LMTS: Soft Transducers Lab,Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lau-sanne,LMTS: Soft Transducers Lab,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005692787","display_name":"Krishna Manaswi Digumarti","orcid":"https://orcid.org/0000-0003-0521-3200"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Krishna Manaswi Digumarti","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lausanne,Laberatory of Intelligent Systems,Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lausanne,Laberatory of Intelligent Systems,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046878537","display_name":"Herbert Shea","orcid":"https://orcid.org/0000-0003-3527-3036"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Herbert Shea","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lau-sanne,LMTS: Soft Transducers Lab,Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lau-sanne,LMTS: Soft Transducers Lab,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059369445","display_name":"Dario Floreano","orcid":"https://orcid.org/0000-0002-5330-4863"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Floreano","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lausanne,Laberatory of Intelligent Systems,Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lausanne,Laberatory of Intelligent Systems,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038475845"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":2.1225,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89676441,"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":"10003","last_page":"10008"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9933000206947327,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.8915778398513794},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.8167189359664917},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7360172271728516},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6803464889526367},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6433826684951782},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6274948120117188},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6016218662261963},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.520043134689331},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4601363241672516},{"id":"https://openalex.org/keywords/anticipation","display_name":"Anticipation (artificial intelligence)","score":0.44281908869743347},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21050438284873962},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14295244216918945},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08989259600639343},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07784870266914368}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.8915778398513794},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8167189359664917},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7360172271728516},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6803464889526367},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6433826684951782},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6274948120117188},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6016218662261963},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.520043134689331},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4601363241672516},{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.44281908869743347},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21050438284873962},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14295244216918945},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08989259600639343},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07784870266914368},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9981174","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981174","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:297987","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/192207","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:297987","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/192207","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1501088507","https://openalex.org/W1639206274","https://openalex.org/W2028584912","https://openalex.org/W2045222441","https://openalex.org/W2074936002","https://openalex.org/W2125790828","https://openalex.org/W2129537069","https://openalex.org/W2147076905","https://openalex.org/W2162638969","https://openalex.org/W2282720538","https://openalex.org/W2518171088","https://openalex.org/W2743209907","https://openalex.org/W2785792599","https://openalex.org/W2789805345","https://openalex.org/W2803104652","https://openalex.org/W2837391606","https://openalex.org/W2892010946","https://openalex.org/W2911964244","https://openalex.org/W2927390514","https://openalex.org/W3043825956","https://openalex.org/W3096386095","https://openalex.org/W3102486441","https://openalex.org/W3104208381","https://openalex.org/W4287255890","https://openalex.org/W4291674581","https://openalex.org/W6634705048","https://openalex.org/W6792423866"],"related_works":["https://openalex.org/W2684179520","https://openalex.org/W2544373263","https://openalex.org/W2166446064","https://openalex.org/W2968390578","https://openalex.org/W2742785019","https://openalex.org/W4386100501","https://openalex.org/W1859354494","https://openalex.org/W2121077487","https://openalex.org/W1578656222","https://openalex.org/W2051859390"],"abstract_inverted_index":{"Robots":[0],"using":[1,55,96,135,149,158],"classical":[2],"control":[3],"have":[4,20],"revolutionised":[5],"assembly":[6],"lines":[7],"where":[8],"the":[9,25,64,73,167,175],"environment":[10],"and":[11,16,34,42,118,172],"manipulated":[12,26],"objects":[13,27,77,106],"are":[14,28],"restricted":[15],"predictable.":[17],"However,":[18],"they":[19],"proven":[21],"less":[22],"effective":[23],"when":[24],"deformable":[29,76,105,126,183],"due":[30,62],"to":[31,63,66,174],"their":[32],"complex":[33],"unpredictable":[35],"behaviour.":[36],"The":[37,109,154],"use":[38,67],"of":[39,45,70,75,93,169,177],"tactile":[40,46,94],"sensors":[41],"continuous":[43,91],"monitoring":[44,92],"feedback":[47],"is":[48,59,107],"there-fore":[49],"particularly":[50],"important":[51],"for":[52,72,103,124,182],"pick-and-place":[53,180],"tasks":[54],"these":[56],"materials.":[57],"This":[58],"in":[60,81],"part":[61],"need":[65],"multiple":[68,125],"points":[69],"contact":[71],"manipulation":[74,122],"which":[78],"can":[79,163],"result":[80],"slippage":[82,117],"with":[83,143],"inadequate":[84],"coordination":[85],"between":[86,114],"manipulators.":[87],"In":[88],"this":[89],"paper,":[90],"feedback,":[95],"a":[97,121,139,144,150,159],"liquid":[98],"metal":[99],"soft":[100],"force":[101],"sensor,":[102],"grasping":[104],"presented.":[108],"trained":[110],"data-driven":[111],"model":[112],"distinguishes":[113],"successful":[115],"grasps,":[116],"failure":[119,133],"during":[120],"task":[123],"objects.":[127,184],"Slippage":[128],"could":[129],"be":[130,164],"anticipated":[131],"before":[132],"occurred":[134],"data":[136],"acquired":[137],"over":[138],"30":[140],"ms":[141],"period":[142],"greater":[145],"than":[146],"95%":[147],"accuracy":[148],"random":[151],"forest":[152],"classifier.":[153],"results":[155],"were":[156],"achieved":[157],"single":[160],"sensor":[161],"that":[162],"mounted":[165],"on":[166],"fingertips":[168],"existing":[170],"grippers":[171],"contributes":[173],"development":[176],"an":[178],"automated":[179],"process":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}