{"id":"https://openalex.org/W4206522813","doi":"https://doi.org/10.1109/lra.2022.3140793","title":"Vision-Based Self-Adaptive Gripping in a Trimodal Robotic Sorting End-Effector","display_name":"Vision-Based Self-Adaptive Gripping in a Trimodal Robotic Sorting End-Effector","publication_year":2022,"publication_date":"2022-01-06","ids":{"openalex":"https://openalex.org/W4206522813","doi":"https://doi.org/10.1109/lra.2022.3140793"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3140793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3140793","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/A5079682952","display_name":"Rasoul Sadeghian","orcid":"https://orcid.org/0000-0001-6336-4002"},"institutions":[{"id":"https://openalex.org/I165526535","display_name":"Royal College of Art","ror":"https://ror.org/01egahc47","country_code":"GB","type":"education","lineage":["https://openalex.org/I165526535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rasoul Sadeghian","raw_affiliation_strings":["RCA Robotics Laboratory, Royal College of Art, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6336-4002","affiliations":[{"raw_affiliation_string":"RCA Robotics Laboratory, Royal College of Art, London, U.K","institution_ids":["https://openalex.org/I165526535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041833014","display_name":"Shahrooz Shahin","orcid":null},"institutions":[{"id":"https://openalex.org/I165526535","display_name":"Royal College of Art","ror":"https://ror.org/01egahc47","country_code":"GB","type":"education","lineage":["https://openalex.org/I165526535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shahrooz Shahin","raw_affiliation_strings":["RCA Robotics Laboratory, Royal College of Art, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RCA Robotics Laboratory, Royal College of Art, London, U.K","institution_ids":["https://openalex.org/I165526535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054213740","display_name":"Sina Sareh","orcid":"https://orcid.org/0000-0002-9787-1798"},"institutions":[{"id":"https://openalex.org/I165526535","display_name":"Royal College of Art","ror":"https://ror.org/01egahc47","country_code":"GB","type":"education","lineage":["https://openalex.org/I165526535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sina Sareh","raw_affiliation_strings":["RCA Robotics Laboratory, Royal College of Art, London, U.K"],"raw_orcid":"https://orcid.org/0000-0002-9787-1798","affiliations":[{"raw_affiliation_string":"RCA Robotics Laboratory, Royal College of Art, London, U.K","institution_ids":["https://openalex.org/I165526535"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165526535"],"apc_list":null,"apc_paid":null,"fwci":1.1596,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.73607522,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"2124","last_page":"2131"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9993000030517578,"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":0.9987000226974487,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6877432465553284},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.664069414138794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.500361442565918},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4929342269897461},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4925282895565033},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4285157322883606},{"id":"https://openalex.org/keywords/process-engineering","display_name":"Process engineering","score":0.3572591245174408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3431106507778168},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3165266513824463},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.08241459727287292},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.08125576376914978}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6877432465553284},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.664069414138794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.500361442565918},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4929342269897461},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4925282895565033},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4285157322883606},{"id":"https://openalex.org/C21880701","wikidata":"https://www.wikidata.org/wiki/Q2144042","display_name":"Process engineering","level":1,"score":0.3572591245174408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3431106507778168},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3165266513824463},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.08241459727287292},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.08125576376914978},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3140793","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3140793","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:researchonline.rca.ac.uk:4974","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196584","display_name":"Archive of research processes and output produced by RCA (Royal College of Art)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I165526535","host_organization_name":"Royal College of Art","host_organization_lineage":["https://openalex.org/I165526535"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/12","display_name":"Responsible consumption and production","score":0.4699999988079071}],"awards":[{"id":"https://openalex.org/G2642076559","display_name":"Getting a grip: from the science of robotic attachment to innovation and deployment","funder_award_id":"EP/S001840/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2037216355","https://openalex.org/W2133200446","https://openalex.org/W2766301293","https://openalex.org/W2916945624","https://openalex.org/W2950451445","https://openalex.org/W2954430690","https://openalex.org/W2962746398","https://openalex.org/W2963394817","https://openalex.org/W3089728370","https://openalex.org/W3101044088","https://openalex.org/W3135672383","https://openalex.org/W3186580047","https://openalex.org/W3199024773","https://openalex.org/W3207511527","https://openalex.org/W3214450481","https://openalex.org/W4293584584","https://openalex.org/W6750227808"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2566006169","https://openalex.org/W1567818861","https://openalex.org/W2987774938","https://openalex.org/W4256492088","https://openalex.org/W632915154","https://openalex.org/W2055733372","https://openalex.org/W3022067003"],"abstract_inverted_index":{"Recyclable":[0],"waste":[1,35],"management,":[2],"which":[3,60],"includes":[4],"sorting":[5,24],"as":[6],"a":[7,11,16,40,64,85,183,202,255,266],"key":[8],"process,":[9],"is":[10,89,187],"crucial":[12],"component":[13],"of":[14,21,30,39,51,75,109,181,195,205,217,222,228,234,247,257,265,269],"maintaining":[15],"sustainable":[17],"ecosystem.":[18],"The":[19,103,226],"use":[20],"robots":[22],"in":[23,36,114,153,238,243],"could":[25],"significantly":[26],"facilitate":[27],"the":[28,37,46,52,55,72,139,144,170,178,191,196,223,229,232,245,248],"production":[29],"secondary":[31],"raw":[32],"materials":[33],"from":[34],"sense":[38],"recycling":[41],"economy.":[42],"However,":[43],"due":[44],"to":[45,69,77,98,111,116,148,175,189,208],"complex":[47],"and":[48,80,119,134,193,199,220,251,262],"heterogeneous":[49],"types":[50],"recyclable":[53,171,197,224,270],"items,":[54],"conventional":[56],"robotic":[57,96],"gripping":[58,101,110,122,146,168,182,206,219,241,253],"end-effectors,":[59],"typically":[61],"come":[62],"with":[63,95,155],"fixed":[65],"structure,":[66],"are":[67,165],"unlikely":[68],"hold":[70],"onto":[71,169,254],"full":[73],"range":[74],"items":[76,198],"enable":[78],"separation":[79],"recycling.":[81],"To":[82],"this":[83,158],"end,":[84],"trimodal":[86],"adaptive":[87],"end-effector":[88,104],"proposed":[90],"that":[91,164],"can":[92,105],"be":[93,149,209],"integrated":[94],"manipulators":[97],"improve":[99],"their":[100,117],"versatility.":[102],"deploy":[106],"effective":[107,166],"modes":[108,147,163,180,207,242],"different":[112],"objects":[113],"response":[115],"size":[118,192],"porosity":[120,194],"via":[121],"mechanisms":[123,250],"based":[124],"on":[125,177,201],"Nano":[126],"Polyurethane":[127],"(PU)":[128],"adhesive":[129],"gels,":[130],"pumpless":[131],"vacuum":[132],"suction,":[133],"radially":[135],"deployable":[136],"claws.":[137],"While":[138],"end-effector's":[140],"mechanical":[141],"design":[142],"allows":[143],"three":[145],"deployed":[150],"independently":[151],"or":[152],"conjunction":[154],"one":[156],"another,":[157],"work":[159],"aims":[160],"at":[161],"deploying":[162],"for":[167],"item.":[172],"In":[173],"order":[174],"decide":[176],"suitable":[179,203,240],"real-time":[184],"vision":[185],"system":[186],"designed":[188],"measure":[190],"advise":[200],"combination":[204],"deployed.":[210],"Integrated":[211],"current":[212],"sensors":[213],"provide":[214],"an":[215],"indication":[216],"successful":[218,252],"releasing":[221],"items.":[225,271],"results":[227],"experiments":[230],"confirmed":[231],"ability":[233],"our":[235],"vision-based":[236],"approach":[237],"identifying":[239],"real-time,":[244],"deployment":[246],"relevant":[249],"maximum":[256],"84.8%":[258],"(single-mode),":[259],"90.9%":[260],"(dual-mode)":[261],"96.9%":[263],"(triple-mode)":[264],"specified":[267],"set":[268]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
