{"id":"https://openalex.org/W4393104681","doi":"https://doi.org/10.1109/lra.2024.3381012","title":"Intersection-Free Robot Manipulation With Soft-Rigid Coupled Incremental Potential Contact","display_name":"Intersection-Free Robot Manipulation With Soft-Rigid Coupled Incremental Potential Contact","publication_year":2024,"publication_date":"2024-03-22","ids":{"openalex":"https://openalex.org/W4393104681","doi":"https://doi.org/10.1109/lra.2024.3381012"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3381012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3381012","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/A5100629115","display_name":"Wenxin Du","orcid":"https://orcid.org/0009-0006-1407-2007"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenxin Du","raw_affiliation_strings":["School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028392086","display_name":"Siqiong Yao","orcid":"https://orcid.org/0000-0001-6968-1586"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siqiong Yao","raw_affiliation_strings":["SJTU-Yale Joint Center of Biostatistics and Data Science, National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"SJTU-Yale Joint Center of Biostatistics and Data Science, National Center for Translational Medicine, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100722147","display_name":"Xinlei Wang","orcid":"https://orcid.org/0009-0000-5066-2262"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinlei Wang","raw_affiliation_strings":["ZenusTech Inc.,, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"ZenusTech Inc.,, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101730660","display_name":"Yuhang Xu","orcid":"https://orcid.org/0009-0005-0531-0221"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhang Xu","raw_affiliation_strings":["School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100407910","display_name":"Wenqiang Xu","orcid":"https://orcid.org/0000-0002-8648-5576"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenqiang Xu","raw_affiliation_strings":["School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101470275","display_name":"Cewu Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cewu Lu","raw_affiliation_strings":["Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Qing Yuan Research Institute and MoE Key Lab of Artificial Intelligence, AI Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100629115"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.3978,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79896827,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"9","issue":"5","first_page":"4487","last_page":"4494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.998199999332428,"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":0.998199999332428,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9937000274658203,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/intersection","display_name":"Intersection (aeronautics)","score":0.6977217197418213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5286957025527954},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5099877119064331},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3715721368789673},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3653041124343872},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17738282680511475},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07562807202339172}],"concepts":[{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.6977217197418213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5286957025527954},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5099877119064331},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3715721368789673},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3653041124343872},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17738282680511475},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07562807202339172}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3381012","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3381012","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":[{"score":0.5199999809265137,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W2073592368","https://openalex.org/W2116817751","https://openalex.org/W2126496149","https://openalex.org/W2136014417","https://openalex.org/W2163296013","https://openalex.org/W2235036220","https://openalex.org/W2235901111","https://openalex.org/W2414685554","https://openalex.org/W2469863283","https://openalex.org/W2793955514","https://openalex.org/W2964156592","https://openalex.org/W3039599385","https://openalex.org/W3048889784","https://openalex.org/W3109952375","https://openalex.org/W3168575721","https://openalex.org/W3173446233","https://openalex.org/W3184236041","https://openalex.org/W3186881096","https://openalex.org/W4285102154","https://openalex.org/W4286611167","https://openalex.org/W4286615952","https://openalex.org/W4302010432","https://openalex.org/W4367016688","https://openalex.org/W4383108746","https://openalex.org/W4385416297","https://openalex.org/W4389666897","https://openalex.org/W6683153233","https://openalex.org/W6790030675","https://openalex.org/W6800004206","https://openalex.org/W6845756827"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,43],"novel":[4],"simulation":[5,17,72],"platform,":[6],"ZeMa,":[7],"designed":[8],"for":[9,35,73,116],"robotic":[10],"manipulation":[11],"tasks":[12],"concerning":[13],"soft":[14,75],"objects.":[15,78],"Such":[16],"ideally":[18],"requires":[19],"three":[20],"properties:":[21],"two-way":[22],"soft-rigid":[23,82],"coupling,":[24],"intersection-free":[25],"guarantee,":[26],"and":[27,62,76,120],"frictional":[28,107],"contact":[29,67],"modeling,":[30],"with":[31,90],"acceptable":[32],"runtime":[33],"suitable":[34],"learning":[36],"tasks.":[37],"Current":[38],"simulators":[39],"often":[40],"satisfy":[41],"only":[42],"subset":[44],"of":[45],"these":[46],"needs,":[47],"primarily":[48],"focusing":[49],"on":[50,105],"distinct":[51],"rigid-rigid":[52],"or":[53],"soft-soft":[54],"interactions.":[55],"The":[56],"proposed":[57],"ZeMa":[58],"prioritizes":[59],"physical":[60],"accuracy":[61],"integrates":[63],"the":[64,102,106],"incremental":[65],"potential":[66],"method,":[68],"offering":[69],"unified":[70],"dynamics":[71],"both":[74],"rigid":[77],"It":[79],"efficiently":[80],"manages":[81],"contact,":[83],"operating":[84],"75x":[85],"faster":[86],"than":[87],"baseline":[88],"tools":[89],"similar":[91],"methodologies":[92],"like":[93],"IPC-GraspSim.":[94],"We":[95],"have":[96],"conducted":[97],"extensive":[98],"experiments":[99],"to":[100],"prove":[101],"accuracy,":[103],"especially":[104],"contact.":[108],"To":[109],"demonstrate":[110],"its":[111],"applicability,":[112],"we":[113],"employ":[114],"it":[115],"parallel":[117],"grasp":[118,122],"generation":[119],"penetrated":[121],"repair.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
