{"id":"https://openalex.org/W4389666762","doi":"https://doi.org/10.1109/iros55552.2023.10341833","title":"Flexible Gear Assembly with Visual Servoing and Force Feedback","display_name":"Flexible Gear Assembly with Visual Servoing and Force Feedback","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666762","doi":"https://doi.org/10.1109/iros55552.2023.10341833"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5056447889","display_name":"Junjie Ming","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Junjie Ming","raw_affiliation_strings":["School of Engineering and Design, Technical University of Munich (TUM),Munich,Germany","School of Engineering and Design, Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Design, Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"School of Engineering and Design, Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063877792","display_name":"Daniel Bargmann","orcid":"https://orcid.org/0000-0002-8437-1911"},"institutions":[{"id":"https://openalex.org/I3018473509","display_name":"Fraunhofer Institute for Manufacturing Engineering and Automation","ror":"https://ror.org/01rvqha10","country_code":"DE","type":"facility","lineage":["https://openalex.org/I3018473509","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Bargmann","raw_affiliation_strings":["Fraunhofer Institute for Manufacturing Engineering and Automation,Stuttgart,Germany","Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation,Stuttgart,Germany","institution_ids":["https://openalex.org/I3018473509"]},{"raw_affiliation_string":"Fraunhofer Institute for Manufacturing Engineering and Automation, Stuttgart, Germany","institution_ids":["https://openalex.org/I3018473509"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030370370","display_name":"Hongpeng Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hongpeng Cao","raw_affiliation_strings":["School of Engineering and Design, Technical University of Munich (TUM),Munich,Germany","School of Engineering and Design, Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Design, Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"School of Engineering and Design, Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060442004","display_name":"Marco Caccamo","orcid":"https://orcid.org/0000-0003-2328-044X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco Caccamo","raw_affiliation_strings":["School of Engineering and Design, Technical University of Munich (TUM),Munich,Germany","School of Engineering and Design, Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Design, Technical University of Munich (TUM),Munich,Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"School of Engineering and Design, Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056447889"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.5025,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82983773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8276","last_page":"8282"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908999800682068,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9836999773979187,"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/robustness","display_name":"Robustness (evolution)","score":0.7704160213470459},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6816405057907104},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.6497307419776917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5987004041671753},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5945611596107483},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5221312642097473},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5179892778396606},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.47603869438171387},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42890042066574097},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.41462868452072144}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7704160213470459},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6816405057907104},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6497307419776917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5987004041671753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5945611596107483},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5221312642097473},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5179892778396606},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.47603869438171387},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42890042066574097},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.41462868452072144},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10341833","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341833","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/499175","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/499175","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2068127265","https://openalex.org/W2145339207","https://openalex.org/W2539574638","https://openalex.org/W2736601468","https://openalex.org/W2777106145","https://openalex.org/W2810883421","https://openalex.org/W2890441640","https://openalex.org/W2909718913","https://openalex.org/W2963940579","https://openalex.org/W2968268581","https://openalex.org/W2968717979","https://openalex.org/W2978706708","https://openalex.org/W3000439273","https://openalex.org/W3091182627","https://openalex.org/W3091552533","https://openalex.org/W3109467707","https://openalex.org/W3126321819","https://openalex.org/W3131959844","https://openalex.org/W3183526037","https://openalex.org/W3216772467","https://openalex.org/W4200057828","https://openalex.org/W4205493041","https://openalex.org/W4253588006","https://openalex.org/W4293584584","https://openalex.org/W6629910019","https://openalex.org/W6741002519","https://openalex.org/W6750227808","https://openalex.org/W6804601995"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W2386520554","https://openalex.org/W1520171478","https://openalex.org/W4317830657","https://openalex.org/W3024380338","https://openalex.org/W2127866683","https://openalex.org/W110066474","https://openalex.org/W2099513764"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,29,60],"vision-guided":[4,74],"two-stage":[5],"approach":[6,19,112],"with":[7],"force":[8,66],"feedback":[9,67],"to":[10,22,37,56,68],"achieve":[11],"high-precision":[12],"and":[13,32,96,132,137],"flexible":[14],"gear":[15,118,135],"assembly.":[16],"The":[17,110],"proposed":[18,111],"integrates":[20],"YOLO":[21,95],"coarsely":[23],"localize":[24],"the":[25,39,44,50,57,70,73,79],"target":[26],"workpiece":[27,58],"in":[28,115,134],"searching":[30,136],"phase":[31],"deep":[33],"reinforcement":[34],"learning":[35],"(DRL)":[36],"complete":[38],"insertion.":[40],"Specifically,":[41],"DRL":[42,108],"addresses":[43],"challenge":[45],"of":[46,59,72,81,126],"partial":[47],"visibility":[48],"when":[49],"on-wrist":[51],"camera":[52],"is":[53],"too":[54],"close":[55],"small":[61],"size.":[62],"Moreover,":[63],"we":[64,88],"use":[65,89],"improve":[69],"robustness":[71,131],"assembly":[75,119,124],"process.":[76],"To":[77],"reduce":[78],"effort":[80],"collecting":[82],"training":[83,94,107],"data":[84,105],"on":[85],"real":[86],"robots,":[87],"synthetic":[90],"RGB":[91],"images":[92],"for":[93,106],"construct":[97],"an":[98,116,123],"offline":[99],"interaction":[100],"environment":[101],"leveraging":[102],"sampled":[103],"real-world":[104],"agents.":[109],"was":[113],"evaluated":[114],"industrial":[117],"experiment,":[120],"which":[121],"requires":[122],"clearance":[125],"0.3":[127],"mm,":[128],"demonstrating":[129],"high":[130],"efficiency":[133],"insertion":[138],"from":[139],"arbitrary":[140],"positions.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
