{"id":"https://openalex.org/W4285183258","doi":"https://doi.org/10.1109/lra.2022.3176718","title":"Uncertainty-Driven Spiral Trajectory for Robotic Peg-in-Hole Assembly","display_name":"Uncertainty-Driven Spiral Trajectory for Robotic Peg-in-Hole Assembly","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285183258","doi":"https://doi.org/10.1109/lra.2022.3176718"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3176718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3176718","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/A5038896099","display_name":"Hanwen Kang","orcid":"https://orcid.org/0000-0001-5553-9239"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Hanwen Kang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5553-9239","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078622105","display_name":"Yaohua Zang","orcid":"https://orcid.org/0000-0003-2858-643X"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaohua Zang","raw_affiliation_strings":["Department of the Mathematical Science, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2858-643X","affiliations":[{"raw_affiliation_string":"Department of the Mathematical Science, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365509","display_name":"Xing Wang","orcid":"https://orcid.org/0000-0002-8676-7821"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Xing Wang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8676-7821","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038978522","display_name":"Yaohui Chen","orcid":"https://orcid.org/0000-0002-3308-9174"},"institutions":[{"id":"https://openalex.org/I204823248","display_name":"Huazhong Agricultural University","ror":"https://ror.org/023b72294","country_code":"CN","type":"education","lineage":["https://openalex.org/I204823248"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaohui Chen","raw_affiliation_strings":["College of Engineering, Huazhong Agricultural University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0002-3308-9174","affiliations":[{"raw_affiliation_string":"College of Engineering, Huazhong Agricultural University, Wuhan, China","institution_ids":["https://openalex.org/I204823248"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5038896099"],"corresponding_institution_ids":["https://openalex.org/I56590836"],"apc_list":null,"apc_paid":null,"fwci":3.8776,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.94820783,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"7","issue":"3","first_page":"6661","last_page":"6668"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"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":0.9962000250816345,"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/task","display_name":"Task (project management)","score":0.6495180130004883},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.550342321395874},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5104669332504272},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.48952043056488037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4867308437824249},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.4363858103752136},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35463494062423706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34490248560905457},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2870945334434509},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17294663190841675},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16499638557434082},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09173229336738586}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6495180130004883},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.550342321395874},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5104669332504272},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.48952043056488037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4867308437824249},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.4363858103752136},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35463494062423706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34490248560905457},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2870945334434509},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17294663190841675},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16499638557434082},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09173229336738586},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3176718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3176718","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1837850830","https://openalex.org/W1984485811","https://openalex.org/W2034738191","https://openalex.org/W2044002128","https://openalex.org/W2077457254","https://openalex.org/W2132005662","https://openalex.org/W2155653863","https://openalex.org/W2210732859","https://openalex.org/W2290545100","https://openalex.org/W2473781057","https://openalex.org/W2612089457","https://openalex.org/W2626705768","https://openalex.org/W2793264449","https://openalex.org/W2938807566","https://openalex.org/W2964321586","https://openalex.org/W2968589974","https://openalex.org/W2990559378","https://openalex.org/W3026307653","https://openalex.org/W3032921928","https://openalex.org/W3034275286","https://openalex.org/W3037129921","https://openalex.org/W3089337217","https://openalex.org/W3091439969","https://openalex.org/W3131267413","https://openalex.org/W3138849505","https://openalex.org/W3159735414","https://openalex.org/W3193248422","https://openalex.org/W6638543029","https://openalex.org/W6761327112"],"related_works":["https://openalex.org/W2504004674","https://openalex.org/W2498744856","https://openalex.org/W1595229445","https://openalex.org/W4390482104","https://openalex.org/W322408318","https://openalex.org/W149041114","https://openalex.org/W2963177394","https://openalex.org/W1965815883","https://openalex.org/W4313359513","https://openalex.org/W763418848"],"abstract_inverted_index":{"The":[0,87,102,133],"peg-in-hole":[1,25,117,178],"assembly":[2],"is":[3,9,20,37,108,123],"an":[4,48,68],"essential":[5],"robotic":[6,177],"task":[7,126],"that":[8,127,136],"widely":[10],"involved":[11],"in":[12,24,115],"the":[13,29,34,62,80,84,96,100,105,116,119,137,152,156,160,176],"industry":[14],"and":[15,31,75,98],"daily":[16],"life.":[17],"Hole":[18],"search":[19,44,93,106,139],"a":[21,42,92,112,124,143,167,182],"crucial":[22],"step":[23],"since":[26],"it":[27],"aligns":[28],"peg":[30],"hole":[32,43,85,153],"where":[33],"positional":[35],"uncertainty":[36,53,69],"presented.":[38],"This":[39],"study":[40],"introduces":[41],"strategy":[45,107,140],"by":[46],"computing":[47],"exploration":[49,81,89],"distribution":[50,82,90,97],"based":[51,71],"on":[52,72,151,175],"analysis.":[54],"Our":[55],"method":[56,164],"firstly":[57],"utilizes":[58],"vision":[59,73],"to":[60,78],"estimate":[61],"hole\u2019s":[63],"pose.":[64],"It":[65],"then":[66],"performs":[67],"analysis":[70],"estimation":[74],"systematic":[76],"configures":[77],"compute":[79],"of":[83,104,118,159,179],"search.":[86,154],"computed":[88],"calculates":[91],"trajectory":[94],"through":[95],"finds":[99],"hole.":[101],"effectiveness":[103],"experimentally":[109],"verified":[110],"using":[111],"robot":[113],"manipulator":[114],"optical":[120],"transceiver,":[121],"which":[122],"challenging":[125],"has":[128],"not":[129],"yet":[130],"been":[131],"addressed.":[132],"results":[134],"confirm":[135],"proposed":[138],"can":[141,165],"achieve":[142],"90":[144],"<inline-formula":[145,169],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[146,170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[147,171],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[148,172],"success":[149,173],"rate":[150,174],"Through":[155],"rational":[157],"design":[158],"recovery":[161],"strategy,":[162],"our":[163],"secure":[166],"100":[168],"apparatus":[180],"with":[181],"small":[183],"clearance":[184],"(0.1":[185],"mm).":[186]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":10}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}