{"id":"https://openalex.org/W2920875186","doi":"https://doi.org/10.1109/lra.2019.2903356","title":"Calibration and External Force Sensing for Soft Robots Using an RGB-D Camera","display_name":"Calibration and External Force Sensing for Soft Robots Using an RGB-D Camera","publication_year":2019,"publication_date":"2019-03-06","ids":{"openalex":"https://openalex.org/W2920875186","doi":"https://doi.org/10.1109/lra.2019.2903356","mag":"2920875186"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2903356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2903356","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.12210/22553","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100608776","display_name":"Zhongkai Zhang","orcid":"https://orcid.org/0000-0003-3910-1055"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Zhongkai Zhang","raw_affiliation_strings":["INRIA, University of Lille, Lille, France","DEFROST  - Deformable Robots Simulation Team (France)"],"raw_orcid":"https://orcid.org/0000-0003-3910-1055","affiliations":[{"raw_affiliation_string":"INRIA, University of Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DEFROST  - Deformable Robots Simulation Team (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101460489","display_name":"Antoine Petit","orcid":"https://orcid.org/0000-0001-9374-6124"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Antoine Petit","raw_affiliation_strings":["INRIA, University of Lille, Lille, France","MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, University of Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"MIMESIS - Computational Anatomy and Simulation for Medicine (1, Place de l'h\u00f4pital\r\n67091 Strasbourg - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060517543","display_name":"J\u00e9r\u00e9mie Dequidt","orcid":"https://orcid.org/0000-0001-9778-4742"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jeremie Dequidt","raw_affiliation_strings":["INRIA, University of Lille, Lille, France","DEFROST  - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, University of Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DEFROST  - Deformable Robots Simulation Team (France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050114678","display_name":"Christian Duriez","orcid":"https://orcid.org/0000-0001-6030-7117"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I2279609970","display_name":"Universit\u00e9 de Lille","ror":"https://ror.org/02kzqn938","country_code":"FR","type":"education","lineage":["https://openalex.org/I2279609970"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christian Duriez","raw_affiliation_strings":["INRIA, University of Lille, Lille, France","DEFROST  - Deformable Robots Simulation Team (France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA, University of Lille, Lille, France","institution_ids":["https://openalex.org/I2279609970","https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DEFROST  - Deformable Robots Simulation Team (France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8711,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.70613876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":"3","first_page":"2356","last_page":"2363"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9940999746322632,"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/robot","display_name":"Robot","score":0.6997658014297485},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6510474681854248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6117759346961975},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5760976672172546},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5652202367782593},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5511417984962463},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5070102214813232},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.46847477555274963},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.42660850286483765},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.346439391374588},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.34543123841285706},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2415657341480255},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17345932126045227}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6997658014297485},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6510474681854248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6117759346961975},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5760976672172546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5652202367782593},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5511417984962463},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5070102214813232},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.46847477555274963},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.42660850286483765},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.346439391374588},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.34543123841285706},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2415657341480255},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17345932126045227},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2019.2903356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2903356","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-02060976v1","is_oa":false,"landing_page_url":"https://hal.science/hal-02060976","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2019, 4 (3), pp.2356 - 2363. &#x27E8;10.1109/LRA.2019.2903356&#x27E9;","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/22553","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/22553","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:lilloa.univ-lille.fr:20.500.12210/22553","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.12210/22553","pdf_url":null,"source":{"id":"https://openalex.org/S4306402203","display_name":"LillOA (Universit\u00e9 de Lille (University Of Lille))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210123514","host_organization_name":"Centre d'Etudes en Civilisations, Langues et Litt\u00e9ratures Etrang\u00e8res","host_organization_lineage":["https://openalex.org/I4210123514"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1610082327","https://openalex.org/W1897579901","https://openalex.org/W1982082424","https://openalex.org/W1996772426","https://openalex.org/W2002589631","https://openalex.org/W2005284429","https://openalex.org/W2013439434","https://openalex.org/W2059133999","https://openalex.org/W2071523568","https://openalex.org/W2084780923","https://openalex.org/W2101797976","https://openalex.org/W2142828858","https://openalex.org/W2146990154","https://openalex.org/W2152864241","https://openalex.org/W2290611374","https://openalex.org/W2295380675","https://openalex.org/W2465840354","https://openalex.org/W2525386719","https://openalex.org/W2740869303","https://openalex.org/W2758416491","https://openalex.org/W2767896580","https://openalex.org/W2768326939","https://openalex.org/W2771301254","https://openalex.org/W2773367425","https://openalex.org/W2774676248","https://openalex.org/W2792360281","https://openalex.org/W6639527342","https://openalex.org/W6741516839"],"related_works":["https://openalex.org/W4205370188","https://openalex.org/W2158374453","https://openalex.org/W2157600580","https://openalex.org/W2792156965","https://openalex.org/W2033943413","https://openalex.org/W2771857660","https://openalex.org/W2106617478","https://openalex.org/W2076290979","https://openalex.org/W1997199369","https://openalex.org/W2142955042"],"abstract_inverted_index":{"Benefiting":[0],"from":[1],"the":[2,39,44,76,102,105,114,129,133,137,143],"deformability":[3],"of":[4,22,78,84,104,136],"soft":[5,12,138,157],"robots,":[6],"calibration,":[7],"and":[8,43,81,90,148],"force":[9,25,64,87,91,98,115,149],"sensing":[10,65,150],"for":[11,56,141,146],"robots":[13],"are":[14],"possible":[15],"using":[16,154],"an":[17,62,110,122],"external":[18,63],"vision-based":[19],"system,":[20],"instead":[21],"embedded":[23],"mechatronic":[24],"sensors.":[26],"In":[27],"this":[28],"letter,":[29],"we":[30],"first":[31],"propose":[32],"a":[33,52,69,155],"calibration":[34,147],"method":[35],"to":[36],"calibrate":[37],"both":[38,57],"sensor-robot":[40],"coordinate":[41],"system":[42,66],"actuator":[45],"inputs.":[46],"This":[47],"task":[48],"is":[49],"addressed":[50],"through":[51],"sequential":[53],"optimization":[54],"problem":[55,125],"variables.":[58],"We":[59],"also":[60],"introduce":[61],"based":[67,126],"on":[68,101,127],"real-time":[70],"finite":[71],"element":[72],"(FE)":[73],"model":[74,131],"with":[75,132],"assumption":[77],"static":[79],"configurations,":[80],"which":[82],"consists":[83],"two":[85],"steps:":[86],"location":[88,99],"detection":[89],"intensity":[92],"computation.":[93],"The":[94],"algorithm":[95],"that":[96],"estimates":[97],"relies":[100],"segmentation":[103],"point":[106,134],"cloud":[107,135],"acquired":[108],"by":[109,120,160],"RGB-D":[111],"camera.":[112],"Then,":[113],"intensities":[116],"can":[117],"be":[118],"computed":[119],"solving":[121],"inverse":[123],"quasi-static":[124],"matching":[128],"FE":[130],"robot.":[139],"As":[140],"validation,":[142],"proposed":[144],"strategies":[145],"have":[151],"been":[152],"tested":[153],"parallel":[156],"robot":[158],"driven":[159],"four":[161],"cables.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
