{"id":"https://openalex.org/W4312839918","doi":"https://doi.org/10.1109/iros47612.2022.9982209","title":"Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators","display_name":"Sensor Observability Index: Evaluating Sensor Alignment for Task-Space Observability in Robotic Manipulators","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312839918","doi":"https://doi.org/10.1109/iros47612.2022.9982209"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982209","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028080639","display_name":"Christopher Yee Wong","orcid":"https://orcid.org/0000-0002-4554-9385"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Christopher Yee Wong","raw_affiliation_strings":["Universit&#x00E9; de Sherbooke,Sherbrooke,Canada"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; de Sherbooke,Sherbrooke,Canada","institution_ids":["https://openalex.org/I135117807"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008946648","display_name":"Wael Suleiman","orcid":"https://orcid.org/0000-0002-1968-7207"},"institutions":[{"id":"https://openalex.org/I135117807","display_name":"Universit\u00e9 de Sherbrooke","ror":"https://ror.org/00kybxq39","country_code":"CA","type":"education","lineage":["https://openalex.org/I135117807"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wael Suleiman","raw_affiliation_strings":["Universit&#x00E9; de Sherbooke,Sherbrooke,Canada"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E9; de Sherbooke,Sherbrooke,Canada","institution_ids":["https://openalex.org/I135117807"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5028080639"],"corresponding_institution_ids":["https://openalex.org/I135117807"],"apc_list":null,"apc_paid":null,"fwci":0.7078,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65854398,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1276","last_page":"1282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/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":0.9980000257492065,"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/observability","display_name":"Observability","score":0.9353786706924438},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7343795299530029},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7023677825927734},{"id":"https://openalex.org/keywords/transpose","display_name":"Transpose","score":0.5294803380966187},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5057501792907715},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4939575791358948},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.47141405940055847},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.461672306060791},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4221475124359131},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34479302167892456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.279106080532074},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13154011964797974},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.09672284126281738},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09247341752052307}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9353786706924438},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7343795299530029},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7023677825927734},{"id":"https://openalex.org/C200106649","wikidata":"https://www.wikidata.org/wiki/Q223683","display_name":"Transpose","level":3,"score":0.5294803380966187},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5057501792907715},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4939575791358948},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.47141405940055847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.461672306060791},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4221475124359131},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34479302167892456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.279106080532074},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13154011964797974},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.09672284126281738},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09247341752052307},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982209","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1605087729","https://openalex.org/W2013575527","https://openalex.org/W2021554045","https://openalex.org/W2049410986","https://openalex.org/W2097193816","https://openalex.org/W2107195452","https://openalex.org/W2108770432","https://openalex.org/W2148832281","https://openalex.org/W2246023205","https://openalex.org/W2524863423","https://openalex.org/W2613202589","https://openalex.org/W2807702428","https://openalex.org/W2982885935","https://openalex.org/W3020947218","https://openalex.org/W3081176596","https://openalex.org/W3205536929","https://openalex.org/W3206308448"],"related_works":["https://openalex.org/W2016247732","https://openalex.org/W2131949474","https://openalex.org/W2077539837","https://openalex.org/W2327154875","https://openalex.org/W2133391116","https://openalex.org/W2104028030","https://openalex.org/W2172159805","https://openalex.org/W2360468575","https://openalex.org/W2079353241","https://openalex.org/W2036490448"],"abstract_inverted_index":{"In":[0,176],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,41,88,103],"preliminary":[6],"definition":[7],"and":[8,23,62,125,172,191],"analysis":[9,150,179],"of":[10,14,27,43,68,90,109,134,151,168,180,200],"the":[11,25,92,107,110,116,126,131,152,181,194,198],"novel":[12],"concept":[13],"sensor":[15,100,123,158,174,203],"observability":[16,101,124,159,188,204],"index.":[17],"The":[18,98],"goal":[19],"is":[20,160,184],"to":[21,33,64,84,105,114,162,186],"analyse":[22,106],"evaluate":[24],"performance":[26],"distributed":[28],"directional":[29],"or":[30,80],"axial-based":[31],"sensors":[32,54,95,137,171],"observe":[34,115],"specific":[35],"axes":[36,83],"in":[37,46,58,138,155,166,205],"task":[38,117],"space":[39],"as":[40,87],"function":[42],"joint":[44,52,75,93,135],"configuration":[45,113],"serial":[47,59,139,156],"robot":[48,60,112,140,195],"manipulators.":[49,141],"For":[50],"example,":[51],"torque":[53,94,136],"are":[55,96,120],"often":[56],"used":[57],"manipulators":[61],"assumed":[63],"be":[65,85,146,163],"perfectly":[66],"capable":[67],"estimating":[69],"end":[70],"effector":[71],"forces,":[72],"but":[73],"certain":[74],"configurations":[76],"may":[77],"cause":[78],"one":[79],"more":[81,164],"task-space":[82],"unobservable":[86],"result":[89],"how":[91],"aligned.":[97],"proposed":[99],"provides":[102],"method":[104],"quality":[108],"current":[111],"space.":[118],"Parallels":[119],"drawn":[121],"between":[122],"traditional":[127],"kinematic":[128,149],"Jacobian":[129,153,182],"for":[130],"particular":[132],"case":[133],"Although":[142],"similar":[143],"information":[144],"can":[145],"retrieved":[147],"from":[148],"transpose":[154,183],"manipulators,":[157],"shown":[161],"generalizable":[165],"terms":[167],"analysing":[169],"non-joint-mounted":[170],"other":[173],"types.":[175],"addition,":[177],"null-space":[178],"susceptible":[185],"false":[187],"singularities.":[189],"Simulations":[190],"experiments":[192],"using":[193],"Baxter":[196],"demonstrate":[197],"importance":[199],"maintaining":[201],"proper":[202],"physical":[206],"interactions.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2023-01-05T00:00:00"}
