{"id":"https://openalex.org/W4405785027","doi":"https://doi.org/10.1109/iros58592.2024.10801608","title":"Precise Well-plate Placing Utilizing Contact During Sliding with Tactile-based Pose Estimation for Laboratory Automation","display_name":"Precise Well-plate Placing Utilizing Contact During Sliding with Tactile-based Pose Estimation for Laboratory Automation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785027","doi":"https://doi.org/10.1109/iros58592.2024.10801608"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5112033248","display_name":"Sameer Pai","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sameer Pai","raw_affiliation_strings":["Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101420045","display_name":"Kuniyuki Takahashi","orcid":"https://orcid.org/0000-0002-4989-0863"},"institutions":[{"id":"https://openalex.org/I4210166566","display_name":"Preferred Networks (Japan)","ror":"https://ror.org/05xeefy56","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210166566"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kuniyuki Takahashi","raw_affiliation_strings":["Preferred Networks, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Preferred Networks, Inc","institution_ids":["https://openalex.org/I4210166566"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047753219","display_name":"Shimpei Masuda","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166566","display_name":"Preferred Networks (Japan)","ror":"https://ror.org/05xeefy56","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210166566"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shimpei Masuda","raw_affiliation_strings":["Preferred Networks, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Preferred Networks, Inc","institution_ids":["https://openalex.org/I4210166566"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062705772","display_name":"Naoki Fukaya","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166566","display_name":"Preferred Networks (Japan)","ror":"https://ror.org/05xeefy56","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210166566"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Fukaya","raw_affiliation_strings":["Preferred Networks, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Preferred Networks, Inc","institution_ids":["https://openalex.org/I4210166566"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101823225","display_name":"Koki Yamane","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koki Yamane","raw_affiliation_strings":["University of Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031072973","display_name":"Avinash Ummadisingu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166566","display_name":"Preferred Networks (Japan)","ror":"https://ror.org/05xeefy56","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210166566"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Avinash Ummadisingu","raw_affiliation_strings":["Preferred Networks, Inc"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Preferred Networks, Inc","institution_ids":["https://openalex.org/I4210166566"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7719,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.83972107,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5252","last_page":"5259"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10892","display_name":"Drilling and Well Engineering","score":0.9311000108718872,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10892","display_name":"Drilling and Well Engineering","score":0.9311000108718872,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9120000004768372,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/automation","display_name":"Automation","score":0.7031835317611694},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6767700910568237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5758023262023926},{"id":"https://openalex.org/keywords/biomedical-engineering","display_name":"Biomedical engineering","score":0.342610627412796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3248552680015564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2598502039909363},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17218244075775146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15170955657958984}],"concepts":[{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.7031835317611694},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6767700910568237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5758023262023926},{"id":"https://openalex.org/C136229726","wikidata":"https://www.wikidata.org/wiki/Q327092","display_name":"Biomedical engineering","level":1,"score":0.342610627412796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3248552680015564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2598502039909363},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17218244075775146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15170955657958984}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801608","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W92261402","https://openalex.org/W1994349244","https://openalex.org/W2302948574","https://openalex.org/W2607136978","https://openalex.org/W2991618230","https://openalex.org/W3042021489","https://openalex.org/W3089748410","https://openalex.org/W3091963586","https://openalex.org/W3110324412","https://openalex.org/W3129746225","https://openalex.org/W3133009843","https://openalex.org/W3133344428","https://openalex.org/W3203302482","https://openalex.org/W3205115400","https://openalex.org/W4281557677","https://openalex.org/W4283693458","https://openalex.org/W4312342945","https://openalex.org/W4383109242","https://openalex.org/W4386607259","https://openalex.org/W4389665582","https://openalex.org/W4389666462","https://openalex.org/W6636808768","https://openalex.org/W6853137490"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Micro":[0],"well-plates":[1],"are":[2,13],"an":[3],"apparatus":[4],"commonly":[5],"used":[6],"in":[7,58],"chemical":[8],"and":[9,18,71,111,123,170,186],"biological":[10],"experiments":[11],"that":[12],"a":[14,37,55,61,121,199],"few":[15,56],"centimeters":[16],"thick":[17],"contain":[19],"wells":[20],"or":[21],"divets.":[22],"In":[23],"this":[24],"paper,":[25],"we":[26,135],"aim":[27],"to":[28,41,49,101,105,120,126,151],"solve":[29],"the":[30,34,50,69,83,94,99,106,115,148,157,160,167,190,204,213],"task":[31,45,81],"of":[32,63,147,189,212],"placing":[33,80,206],"well-plate":[35,38,70,150,158,205],"onto":[36,159],"holder":[39,116,162,191],"(referred":[40],"as":[42],"holder).":[43],"This":[44,177],"is":[46,91,97,117,124],"challenging":[47],"due":[48,104],"holder\u2019s":[51,88,168,214],"raised":[52,107],"grooves":[53],"being":[54],"millimeters":[57],"height,":[59],"with":[60,166],"clearance":[62],"less":[64],"than":[65],"1":[66],"mm":[67],"between":[68],"holder,":[72],"thus":[73],"requiring":[74],"precise":[75],"control":[76,182],"during":[77,192],"placing.":[78],"Our":[79],"has":[82],"following":[84],"challenges:":[85],"1)":[86],"The":[87],"detected":[89],"pose":[90,145],"uncertain;":[92],"2)":[93],"required":[95],"accuracy":[96],"at":[98],"millimeter":[100],"sub-millimeter":[102],"level":[103],"groove\u2019s":[108],"shallow":[109],"height":[110],"small":[112],"clearance;":[113],"3)":[114],"not":[118],"fixed":[119],"desk":[122],"susceptible":[125],"movement":[127],"from":[128],"external":[129],"forces.":[130],"To":[131],"address":[132],"these":[133],"challenges,":[134],"developed":[136],"methods":[137],"including":[138],"a)":[139],"using":[140],"tactile":[141],"sensors":[142],"for":[143,174,179,203],"accurate":[144,175],"estimation":[146],"grasped":[149],"handle":[152],"issue":[153,184,195],"(1);":[154],"b)":[155],"sliding":[156],"target":[161],"while":[163],"maintaining":[164],"contact":[165],"groove":[169],"estimating":[171],"its":[172],"orientation":[173],"alignment.":[176],"allows":[178],"high":[180,200],"precision":[181],"(addressing":[183,194],"(2))":[185],"prevents":[187],"displacement":[188],"placement":[193],"(3)).":[196],"We":[197],"demonstrate":[198],"success":[201],"rate":[202],"task,":[207],"even":[208],"under":[209],"noisy":[210],"observation":[211],"pose.":[215],"<sup":[216],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[217],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">4</sup>":[218]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
