{"id":"https://openalex.org/W4416748425","doi":"https://doi.org/10.1109/iros60139.2025.11247051","title":"CATCH-FORM-3D: Compliance-Aware Tactile Control and Hybrid Deformation Regulation for 3D Viscoelastic Object Manipulation","display_name":"CATCH-FORM-3D: Compliance-Aware Tactile Control and Hybrid Deformation Regulation for 3D Viscoelastic Object Manipulation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748425","doi":"https://doi.org/10.1109/iros60139.2025.11247051"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5045048272","display_name":"Hongjun Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongjun Ma","raw_affiliation_strings":["South China University of Technology,School of Automation Science and Engineering,Guangzhou,China,510641"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,School of Automation Science and Engineering,Guangzhou,China,510641","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032863029","display_name":"Weichang Li","orcid":"https://orcid.org/0000-0003-1856-7649"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weichang Li","raw_affiliation_strings":["Institute for Super Robotics (Huangpu),Guangzhou,China,510700"],"affiliations":[{"raw_affiliation_string":"Institute for Super Robotics (Huangpu),Guangzhou,China,510700","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5045048272"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48151211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8471","last_page":"8478"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.498199999332428,"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":0.498199999332428,"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":0.24400000274181366,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.06369999796152115,"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/contact-force","display_name":"Contact force","score":0.6103000044822693},{"id":"https://openalex.org/keywords/viscoelasticity","display_name":"Viscoelasticity","score":0.59170001745224},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.5357000231742859},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5342000126838684},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5309000015258789},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.4528999924659729},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43950000405311584},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.40700000524520874}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6103000044822693},{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.59170001745224},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.5357000231742859},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5342000126838684},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5309000015258789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5138999819755554},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.4528999924659729},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43950000405311584},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.40700000524520874},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3889999985694885},{"id":"https://openalex.org/C182310444","wikidata":"https://www.wikidata.org/wiki/Q1332643","display_name":"Boundary value problem","level":2,"score":0.335099995136261},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C93779851","wikidata":"https://www.wikidata.org/wiki/Q271977","display_name":"Partial differential equation","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3052000105381012},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.29829999804496765},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.2888000011444092},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2800000011920929},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.27869999408721924},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.27410000562667847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2711000144481659},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247051","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247051","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":16,"referenced_works":["https://openalex.org/W585700782","https://openalex.org/W2111443159","https://openalex.org/W2554903037","https://openalex.org/W2808405904","https://openalex.org/W2901496726","https://openalex.org/W2955606870","https://openalex.org/W2988986133","https://openalex.org/W3091248659","https://openalex.org/W3131832482","https://openalex.org/W3137245358","https://openalex.org/W4234969902","https://openalex.org/W4377092323","https://openalex.org/W4380764438","https://openalex.org/W4392979569","https://openalex.org/W4401415597","https://openalex.org/W4402998604"],"related_works":[],"abstract_inverted_index":{"This":[0,63,153],"paper":[1],"investigates":[2],"a":[3,60,97,103,125,167],"framework":[4,80,182],"(CATCH-FORM-3D)":[5],"for":[6,128],"the":[7,29,43,79,88,91,114,122,129,141,157],"precise":[8],"contact":[9,109,142,163],"force":[10,110,177],"control":[11,85,100],"and":[12,37,69,135,175,196],"surface":[13,143],"deformation":[14,93,130,159,173],"regulation":[15,160],"in":[16,56,161,187],"viscoelastic":[17,45],"material":[18],"manipulation.":[19],"A":[20],"partial":[21],"differential":[22],"equation":[23],"(PDE)":[24],"is":[25,94,133],"proposed":[26],"to":[27,41,73,118,144],"model":[28],"spatiotemporal":[30],"stress-strain":[31],"dynamics,":[32],"integrating":[33],"3D":[34],"Kelvin-Voigt":[35],"(stiffness-damping)":[36],"Maxwell":[38],"(diffusion)":[39],"effects":[40],"capture":[42],"material\u2019s":[44],"behavior.":[46],"Key":[47],"mechanical":[48],"parameters":[49],"(stiffness,":[50],"damping,":[51],"diffusion":[52],"coefficients)":[53],"are":[54],"estimated":[55],"real":[57],"time":[58],"via":[59],"PDE-driven":[61],"observer.":[62],"observer":[64],"fuses":[65],"visual-tactile":[66],"sensor":[67],"data":[68],"experimentally":[70],"validated":[71],"forces":[72],"generate":[74],"rich":[75],"regressor":[76],"signals.":[77],"Then,":[78],"employs":[81],"an":[82],"inner-outer":[83],"loop":[84],"structure.":[86],"In":[87,121],"outer":[89],"loop,":[90,124],"reference":[92],"updated":[95],"by":[96,139],"novel":[98],"admittance":[99],"law,":[101],"i.e.,":[102],"proportional-derivative":[104],"(PD)":[105],"feedback":[106],"law":[107],"with":[108],"measurements,":[111],"ensuring":[112],"that":[113],"system":[115],"responds":[116],"adaptively":[117],"external":[119],"interactions.":[120],"inner":[123],"reaction-diffusion":[126],"PDE":[127],"tracking":[131,178],"error":[132],"formulated":[134],"then":[136],"exponentially":[137],"stabilized":[138],"conforming":[140],"analytical":[145],"geometric":[146],"configurations":[147],"(i.e.,":[148],"defining":[149],"Dirichlet":[150],"boundary":[151],"conditions).":[152],"dual-loop":[154],"architecture":[155],"enables":[156],"effective":[158],"dynamic":[162],"environments.":[164],"Experiments":[165],"using":[166],"PaXini":[168],"robotic":[169,185],"hand":[170],"demonstrate":[171],"sub-millimeter":[172],"accuracy":[174],"stable":[176],"(\u00b15%":[179],"deviation).":[180],"The":[181],"advances":[183],"compliant":[184],"interactions":[186],"applications":[188],"like":[189],"industrial":[190],"assembly,":[191],"polymer":[192],"shaping,":[193],"surgical":[194],"treatment,":[195],"household":[197],"service.":[198]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
