{"id":"https://openalex.org/W3183375810","doi":"https://doi.org/10.1109/lra.2021.3098838","title":"DeltaCharger: Charging Robot With Inverted Delta Mechanism and CNN-Driven High Fidelity Tactile Perception for Precise 3D Positioning","display_name":"DeltaCharger: Charging Robot With Inverted Delta Mechanism and CNN-Driven High Fidelity Tactile Perception for Precise 3D Positioning","publication_year":2021,"publication_date":"2021-07-26","ids":{"openalex":"https://openalex.org/W3183375810","doi":"https://doi.org/10.1109/lra.2021.3098838","mag":"3183375810"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3098838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3098838","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2107.10710","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006281755","display_name":"Iaroslav Okunevich","orcid":"https://orcid.org/0000-0001-5440-1297"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Iaroslav Okunevich","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology,Moscow,Russian Federation"],"raw_orcid":"https://orcid.org/0000-0001-5440-1297","affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology,Moscow,Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026323328","display_name":"Daria Trinitatova","orcid":"https://orcid.org/0000-0002-0685-1418"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Daria Trinitatova","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology,Moscow,Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology,Moscow,Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069838833","display_name":"Pavel Kopanev","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Pavel Kopanev","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology,Moscow,Russian Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology,Moscow,Russian Federation","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","Skoltech#TAB#"],"raw_orcid":"https://orcid.org/0000-0001-8055-5345","affiliations":[{"raw_affiliation_string":"Intelligent Space Robotics Laboratory, Space CREI, Skolkovo Institute of Science and Technology, Moscow, Russian Federation","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"Skoltech#TAB#","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":0.0726,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.32136375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":"4","first_page":"7604","last_page":"7610"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9994999766349792,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9994999766349792,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.725845217704773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.650391161441803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5567349791526794},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5526278614997864},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.5496665835380554},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.5437281727790833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.517461359500885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4967935383319855},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44809064269065857},{"id":"https://openalex.org/keywords/high-fidelity","display_name":"High fidelity","score":0.4154152274131775},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32516366243362427},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.18625181913375854},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09053260087966919}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.725845217704773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.650391161441803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5567349791526794},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5526278614997864},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.5496665835380554},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.5437281727790833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.517461359500885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4967935383319855},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44809064269065857},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.4154152274131775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32516366243362427},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.18625181913375854},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09053260087966919},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3098838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3098838","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:arXiv.org:2107.10710","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.10710","pdf_url":"https://arxiv.org/pdf/2107.10710","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"mag:3183375810","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2107.10710v1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2107.10710","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2107.10710","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2107.10710","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2107.10710","pdf_url":"https://arxiv.org/pdf/2107.10710","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8399999737739563}],"awards":[{"id":"https://openalex.org/G5435861780","display_name":null,"funder_award_id":"21-58-15006","funder_id":"https://openalex.org/F4320322892","funder_display_name":"Centre National de la Recherche Scientifique"}],"funders":[{"id":"https://openalex.org/F4320321079","display_name":"Russian Foundation for Basic Research","ror":"https://ror.org/02mh1ke95"},{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"},{"id":"https://openalex.org/F4320324442","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3183375810.pdf","grobid_xml":"https://content.openalex.org/works/W3183375810.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1836465849","https://openalex.org/W1985872557","https://openalex.org/W1994442991","https://openalex.org/W2145107470","https://openalex.org/W2172209417","https://openalex.org/W2295598076","https://openalex.org/W2463316369","https://openalex.org/W2499485734","https://openalex.org/W2515202370","https://openalex.org/W2772541090","https://openalex.org/W2785336491","https://openalex.org/W2805026780","https://openalex.org/W2902240649","https://openalex.org/W2905733586","https://openalex.org/W2910910679","https://openalex.org/W2956550348","https://openalex.org/W2963399222","https://openalex.org/W2985648910","https://openalex.org/W2999660528","https://openalex.org/W3007978535","https://openalex.org/W3033732695","https://openalex.org/W3045264917","https://openalex.org/W3083416781","https://openalex.org/W3095982497","https://openalex.org/W3102476541","https://openalex.org/W3118898663","https://openalex.org/W3134816106","https://openalex.org/W3202897040","https://openalex.org/W6638667902","https://openalex.org/W6755310813","https://openalex.org/W6756223733","https://openalex.org/W6788378645"],"related_works":["https://openalex.org/W2909041539","https://openalex.org/W1493637635","https://openalex.org/W2673532219","https://openalex.org/W1567735345","https://openalex.org/W3016784098","https://openalex.org/W2378483486","https://openalex.org/W2103862572","https://openalex.org/W2654531027","https://openalex.org/W2973473046","https://openalex.org/W3197999040","https://openalex.org/W3091760204","https://openalex.org/W432289371","https://openalex.org/W3087797277","https://openalex.org/W2374356061","https://openalex.org/W2884962176","https://openalex.org/W2017865425","https://openalex.org/W3198861086","https://openalex.org/W2599858509","https://openalex.org/W2139493727","https://openalex.org/W3089963300"],"abstract_inverted_index":{"DeltaCharger":[0,125],"is":[1,61],"a":[2,120,129],"novel":[3],"charging":[4,133],"robot":[5,52],"with":[6,110],"an":[7,111],"Inverted":[8],"Delta":[9],"structure":[10],"for":[11,63,84],"3D":[12],"positioning":[13],"of":[14,72,79,105,113,132,139],"electrodes":[15,42,48],"to":[16,33],"achieve":[17],"robust":[18],"and":[19,38,47,76,102,116,135],"safe":[20],"transferring":[21],"energy":[22],"between":[23,41],"two":[24],"mobile":[25,140],"robots.":[26,142],"The":[27,89],"embedded":[28],"high-fidelity":[29],"tactile":[30],"sensors":[31],"allow":[32],"estimate":[34],"the":[35,44,50,57,70,73,94,99,137],"angular,":[36],"vertical":[37,101],"horizontal":[39,103],"misalignments":[40],"on":[43,49,56],"charger":[45],"mechanism":[46,71],"target":[51],"using":[53,119],"pressure":[54,108],"data":[55,109],"contact":[58],"surfaces.":[59],"This":[60],"crucial":[62],"preventing":[64],"short":[65],"circuit.":[66],"In":[67],"this":[68],"letter,":[69],"developed":[74],"prototype":[75],"evaluation":[77],"study":[78],"different":[80],"machine":[81],"learning":[82],"models":[83],"misalignment":[85,106],"prediction":[86],"are":[87],"presented.":[88],"experimental":[90],"results":[91],"showed":[92],"that":[93],"proposed":[95],"system":[96],"can":[97,126],"measure":[98],"angle,":[100],"values":[104],"from":[107],"accuracy":[112],"95.46%,":[114],"98.2%,":[115],"86.9%,":[117],"respectively,":[118],"Convolutional":[121],"Neural":[122],"Network":[123],"(CNN).":[124],"potentially":[127],"bring":[128],"new":[130],"level":[131],"systems":[134],"improve":[136],"prevalence":[138],"autonomous":[141]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}