{"id":"https://openalex.org/W3136315168","doi":"https://doi.org/10.1109/lra.2021.3068110","title":"Exploiting Distributed Tactile Sensors to Drive a Robot Arm Through Obstacles","display_name":"Exploiting Distributed Tactile Sensors to Drive a Robot Arm Through Obstacles","publication_year":2021,"publication_date":"2021-03-23","ids":{"openalex":"https://openalex.org/W3136315168","doi":"https://doi.org/10.1109/lra.2021.3068110","mag":"3136315168"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068110","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041142320","display_name":"Alessandro Albini","orcid":"https://orcid.org/0000-0003-1562-7044"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Alessandro Albini","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089464286","display_name":"Francesco Grella","orcid":"https://orcid.org/0000-0002-4663-2690"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Grella","raw_affiliation_strings":["Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genova, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054789141","display_name":"Perla Maiolino","orcid":"https://orcid.org/0000-0002-7588-9567"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Perla Maiolino","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, Oxford, U.K"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, Oxford, U.K","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043106123","display_name":"Giorgio Cannata","orcid":"https://orcid.org/0000-0001-7932-5411"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Cannata","raw_affiliation_strings":["Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, Genova, Italy","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5041142320"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":3.0213,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.91198216,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"4361","last_page":"4368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9988999962806702,"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/robot","display_name":"Robot","score":0.8453434705734253},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.7008789777755737},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6532137393951416},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5650210380554199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5293370485305786},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5077356100082397},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.47282445430755615},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.46480193734169006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45714712142944336},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42643892765045166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39744704961776733},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3050609230995178},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19554036855697632},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06425178050994873},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.05839681625366211}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8453434705734253},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.7008789777755737},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6532137393951416},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5650210380554199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5293370485305786},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5077356100082397},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47282445430755615},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.46480193734169006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45714712142944336},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42643892765045166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39744704961776733},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3050609230995178},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19554036855697632},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06425178050994873},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.05839681625366211},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2021.3068110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068110","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:iris.unige.it:11567/1083125","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1083125","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:713da6db-f48f-463d-9d1e-84f526c2c4de","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:713da6db-f48f-463d-9d1e-84f526c2c4de","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Journal article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.47999998927116394,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W102778925","https://openalex.org/W1763398942","https://openalex.org/W1945252290","https://openalex.org/W1970495039","https://openalex.org/W1974305624","https://openalex.org/W2014014888","https://openalex.org/W2017832059","https://openalex.org/W2034711700","https://openalex.org/W2080426295","https://openalex.org/W2081572389","https://openalex.org/W2087282753","https://openalex.org/W2087627746","https://openalex.org/W2099322603","https://openalex.org/W2103120971","https://openalex.org/W2113265921","https://openalex.org/W2122796850","https://openalex.org/W2127617835","https://openalex.org/W2128722009","https://openalex.org/W2129172305","https://openalex.org/W2131292439","https://openalex.org/W2133835651","https://openalex.org/W2154777391","https://openalex.org/W2161255630","https://openalex.org/W2170553811","https://openalex.org/W2177274602","https://openalex.org/W2203369542","https://openalex.org/W2518197379","https://openalex.org/W2563940612","https://openalex.org/W2585248669","https://openalex.org/W2765971924","https://openalex.org/W2771502785","https://openalex.org/W2774475486","https://openalex.org/W2914066120","https://openalex.org/W2963854970","https://openalex.org/W2981800046"],"related_works":["https://openalex.org/W1822286577","https://openalex.org/W2570672926","https://openalex.org/W2171665390","https://openalex.org/W2904449685","https://openalex.org/W2114949587","https://openalex.org/W4285102526","https://openalex.org/W2124146082","https://openalex.org/W2146701564","https://openalex.org/W3136315168","https://openalex.org/W4295177944"],"abstract_inverted_index":{"Robots":[0],"operating":[1,145],"in":[2,16,42,70,146],"unstructured":[3],"environments":[4],"must":[5],"be":[6,102],"capable":[7,108],"of":[8,57,78,109,115],"safely":[9],"handling":[10],"unexpected":[11,118],"collisions":[12,46,119],"with":[13,140],"objects":[14],"existing":[15],"the":[17,23,35,55,71,84,87,97,105,111,122,127],"surrounding":[18],"area,":[19],"possibly":[20],"without":[21],"stopping":[22],"task":[24],"execution.":[25],"This":[26],"letter":[27],"proposes":[28],"a":[29,49,52,59,66,135],"tactile":[30,94,143],"feedback":[31],"control":[32],"law":[33],"allowing":[34],"robot":[36,60,85,98,106,137],"to":[37,44,64,117,126],"apply":[38],"bounded":[39],"contact":[40],"forces":[41,124],"reaction":[43],"physical":[45],"while":[47],"performing":[48],"task.":[50],"As":[51],"use-case":[53],"scenario,":[54],"problem":[56],"driving":[58],"arm":[61],"through":[62],"obstacles":[63],"reach":[65],"known":[67],"target":[68],"position":[69,113],"space":[72],"is":[73,107],"considered.":[74],"Intensities":[75],"and":[76,80,86,114],"locations":[77],"multiple":[79],"simultaneous":[81],"contacts":[82],"between":[83],"environment":[88],"are":[89],"detected":[90],"using":[91],"large":[92],"area":[93],"sensors":[95],"covering":[96],"body.":[99],"It":[100],"will":[101],"shown":[103],"that":[104],"controlling":[110],"end-effector":[112],"reacting":[116],"by":[120],"regulating":[121],"interaction":[123],"applied":[125],"environment.":[128,149],"The":[129],"method":[130],"has":[131],"been":[132],"validated":[133],"on":[134],"Baxter":[136],"partially":[138],"covered":[139],"3495":[141],"distributed":[142],"elements,":[144],"an":[147],"unknown":[148]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
