{"id":"https://openalex.org/W3137760825","doi":"https://doi.org/10.1109/iros51168.2021.9635954","title":"In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning","display_name":"In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3137760825","doi":"https://doi.org/10.1109/iros51168.2021.9635954","mag":"3137760825"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635954","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.09402","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042849965","display_name":"Kanata Suzuki","orcid":"https://orcid.org/0000-0001-7122-7649"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I2252096349","display_name":"Fujitsu (Japan)","ror":"https://ror.org/038e2g226","country_code":"JP","type":"company","lineage":["https://openalex.org/I2252096349"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kanata Suzuki","raw_affiliation_strings":["Artificial Intelligence Laboratories, Fujitsu Laboratories LTD., Kanagawa, Japan","National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratories, Fujitsu Laboratories LTD., Kanagawa, Japan","institution_ids":["https://openalex.org/I2252096349"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082237201","display_name":"Momomi Kanamura","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Momomi Kanamura","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109529595","display_name":"Yuki Suga","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Suga","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058025190","display_name":"Hiroki MORI","orcid":"https://orcid.org/0000-0002-9941-8946"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroki Mori","raw_affiliation_strings":["Institute for AI and Robotics, Future Robotics Organization, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for AI and Robotics, Future Robotics Organization, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055922202","display_name":"Tetsuya Ogata","orcid":"https://orcid.org/0000-0001-7015-0379"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Ogata","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"School of Fundamental Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.139,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.99267342,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6724","last_page":"6731"},"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":0.9991000294685364,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.88613361120224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7853585481643677},{"id":"https://openalex.org/keywords/workbench","display_name":"Workbench","score":0.6964266896247864},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6052805781364441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.569062352180481},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5226435661315918},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4885176420211792},{"id":"https://openalex.org/keywords/robot-hand","display_name":"Robot hand","score":0.45469892024993896},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4472811222076416},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4381794035434723},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4368242621421814},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4183065593242645},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.41410961747169495},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3933301866054535},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.308352530002594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29175496101379395},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.18102926015853882},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07835200428962708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07177075743675232}],"concepts":[{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.88613361120224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7853585481643677},{"id":"https://openalex.org/C2779145975","wikidata":"https://www.wikidata.org/wiki/Q347690","display_name":"Workbench","level":3,"score":0.6964266896247864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6052805781364441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.569062352180481},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5226435661315918},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4885176420211792},{"id":"https://openalex.org/C2987841220","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robot hand","level":3,"score":0.45469892024993896},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4472811222076416},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4381794035434723},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4368242621421814},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4183065593242645},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.41410961747169495},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3933301866054535},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.308352530002594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29175496101379395},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.18102926015853882},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07835200428962708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07177075743675232},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9635954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635954","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2103.09402","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.09402","pdf_url":"https://arxiv.org/pdf/2103.09402","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.09402","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.09402","pdf_url":"https://arxiv.org/pdf/2103.09402","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1967411666","https://openalex.org/W1977030886","https://openalex.org/W1982920857","https://openalex.org/W2001328977","https://openalex.org/W2083331227","https://openalex.org/W2089630413","https://openalex.org/W2100495367","https://openalex.org/W2100649405","https://openalex.org/W2126998703","https://openalex.org/W2138931081","https://openalex.org/W2149355852","https://openalex.org/W2150216930","https://openalex.org/W2199659798","https://openalex.org/W2323805704","https://openalex.org/W2558355904","https://openalex.org/W2560940104","https://openalex.org/W2770024079","https://openalex.org/W2789645218","https://openalex.org/W2804941773","https://openalex.org/W2810547806","https://openalex.org/W2890292055","https://openalex.org/W2891618570","https://openalex.org/W2900582619","https://openalex.org/W2942606971","https://openalex.org/W2963219234","https://openalex.org/W2963504951","https://openalex.org/W2964121744","https://openalex.org/W2966271811","https://openalex.org/W2967246862","https://openalex.org/W2968095426","https://openalex.org/W2973439545","https://openalex.org/W3012885599","https://openalex.org/W3039258510","https://openalex.org/W3040477237","https://openalex.org/W3042616176","https://openalex.org/W3091544428","https://openalex.org/W3098436915","https://openalex.org/W3103528582","https://openalex.org/W3106220481","https://openalex.org/W3135040554","https://openalex.org/W3135680014","https://openalex.org/W3164541113","https://openalex.org/W3207427042","https://openalex.org/W4232557532","https://openalex.org/W4289490730","https://openalex.org/W4297686387","https://openalex.org/W6746516429","https://openalex.org/W6752818329","https://openalex.org/W6768129781","https://openalex.org/W6785702560"],"related_works":["https://openalex.org/W4361770474","https://openalex.org/W2996122590","https://openalex.org/W2036081980","https://openalex.org/W4388893656","https://openalex.org/W3201274123","https://openalex.org/W2898640871","https://openalex.org/W2108575589","https://openalex.org/W841410736","https://openalex.org/W2790870262","https://openalex.org/W4281651108"],"abstract_inverted_index":{"In":[0,137],"this":[1,81],"study,":[2],"we":[3,83,139],"report":[4],"the":[5,26,29,36,39,43,51,54,89,105,126,132,146,151,170,173,182,186,205,211],"successful":[6],"execution":[7],"of":[8,11,28,38,53,63,124,172,185,210],"in-air":[9],"knotting":[10,157,183],"rope":[12,30,196],"using":[13,104,150],"a":[14,60,85,162],"dual-arm":[15,152],"two-finger":[16],"robot":[17,44,65,90,128,166,188],"based":[18,97,130,144],"on":[19,98,131,145,195],"deep":[20,100],"learning.":[21],"Owing":[22],"to":[23,47,50,68,74,91,121,180],"its":[24,109,198],"flexibility,":[25],"state":[27,52],"was":[31,119],"in":[32,77],"constant":[33],"flux":[34],"during":[35],"operation":[37],"robot.":[40,154],"This":[41],"required":[42],"control":[45],"system":[46],"dynamically":[48],"correspond":[49],"object":[55,70],"at":[56],"all":[57,69],"times.":[58],"However,":[59],"manual":[61],"description":[62],"appropriate":[64,127],"motions":[66,129,143,158],"corresponding":[67],"states":[71],"is":[72],"difficult":[73],"be":[75,122],"prepared":[76],"advance.":[78],"To":[79],"resolve":[80],"issue,":[82],"constructed":[84],"model":[86,118],"that":[87],"instructed":[88],"perform":[92],"bowknots":[93,194],"and":[94,113,193,197,207],"overhand":[95,191],"knots":[96,192],"two":[99],"neural":[101],"networks":[102],"trained":[103],"data":[106],"gathered":[107],"from":[108],"sensorimotor,":[110],"including":[111],"visual":[112],"proximity":[114],"sensors.":[115],"The":[116,155,201],"resultant":[117],"verified":[120],"capable":[123],"predicting":[125],"sensory":[133],"information":[134],"available":[135],"online.":[136],"addition,":[138],"designed":[140,156],"certain":[141],"task":[142],"Ian":[147],"knot":[148],"method":[149],"two-fingers":[153],"do":[159],"not":[160],"require":[161],"dedicated":[163],"workbench":[164],"or":[165],"hand,":[167],"thereby":[168],"enhancing":[169],"versatility":[171],"proposed":[174,212],"method.":[175,213],"Finally,":[176],"experiments":[177],"were":[178],"performed":[179],"estimate":[181],"performance":[184,209],"real":[187],"while":[189],"executing":[190],"success":[199],"rate.":[200],"experimental":[202],"results":[203],"established":[204],"effectiveness":[206],"high":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}