{"id":"https://openalex.org/W4413887115","doi":"https://doi.org/10.1109/lra.2025.3604723","title":"Learning-Based Slip Detection and Fine Control Using the Tactile Sensor for Robot Stable Grasping","display_name":"Learning-Based Slip Detection and Fine Control Using the Tactile Sensor for Robot Stable Grasping","publication_year":2025,"publication_date":"2025-09-01","ids":{"openalex":"https://openalex.org/W4413887115","doi":"https://doi.org/10.1109/lra.2025.3604723"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3604723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3604723","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/A5035752332","display_name":"Zhangyi Chen","orcid":"https://orcid.org/0000-0002-0129-6857"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangyi Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-0129-6857","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Long Wang","orcid":"https://orcid.org/0000-0002-7597-0955"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0002-7597-0955","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037021286","display_name":"Yao Luo","orcid":"https://orcid.org/0000-0001-7026-1271"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Luo","raw_affiliation_strings":["Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaoling Li","orcid":"https://orcid.org/0000-0001-9994-5140"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoling Li","raw_affiliation_strings":["Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China"],"raw_orcid":"https://orcid.org/0000-0001-9994-5140","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100424099","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0002-6905-2349"},"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":"Shuai Li","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5558,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84609173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"11","first_page":"11156","last_page":"11163"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9174000024795532,"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":0.9174000024795532,"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/tactile-sensor","display_name":"Tactile sensor","score":0.726399302482605},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6587285995483398},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5490347743034363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5336537957191467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48104503750801086},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42645686864852905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2691880762577057},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.05035403370857239}],"concepts":[{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.726399302482605},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6587285995483398},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5490347743034363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5336537957191467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48104503750801086},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42645686864852905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2691880762577057},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.05035403370857239}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3604723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3604723","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1898175507","https://openalex.org/W2074936002","https://openalex.org/W2169222114","https://openalex.org/W2325845790","https://openalex.org/W2430725508","https://openalex.org/W2562671631","https://openalex.org/W2913153715","https://openalex.org/W2950069298","https://openalex.org/W3006936931","https://openalex.org/W3041148233","https://openalex.org/W3102486441","https://openalex.org/W3191911496","https://openalex.org/W3199427672","https://openalex.org/W4200518458","https://openalex.org/W4282942073","https://openalex.org/W4285102482","https://openalex.org/W4285678567","https://openalex.org/W4292133364","https://openalex.org/W4320015847","https://openalex.org/W4377971206","https://openalex.org/W4387245329","https://openalex.org/W4390224394","https://openalex.org/W4391827351","https://openalex.org/W4393860058"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","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":{"Slip":[0],"detection":[1,17,43,111],"and":[2,14,18,33,116,133],"control":[3,19,53,123,135],"is":[4,55],"critical":[5],"to":[6,36,73,96],"achieving":[7],"stable":[8],"grasping":[9],"in":[10,92],"robotics.":[11],"However,":[12],"accurate":[13],"robust":[15],"slip":[16,42,110,122,137],"remains":[20],"a":[21,27,50,100],"challenging":[22],"task.":[23],"This":[24],"letter":[25],"proposes":[26],"learning":[28,32],"framework":[29],"with":[30],"contrastive":[31],"feature":[34],"alignment":[35],"improve":[37],"the":[38,59,63,68,75,79,82,108,121,126],"accuracy":[39,115],"of":[40,62,70,81],"end-to-end":[41],"under":[44],"small":[45],"sample":[46],"conditions.":[47],"In":[48],"addition,":[49],"fuzzy":[51],"logic":[52],"system":[54],"designed":[56],"based":[57,98],"on":[58,89,99],"stiffness":[60,128],"perception":[61],"grasped":[64],"object":[65,127],"for":[66],"estimating":[67],"increment":[69],"reflective":[71],"force":[72],"suppress":[74],"slip.":[76],"To":[77],"validate":[78],"effectiveness":[80],"proposed":[83,109],"method,":[84],"we":[85],"conduct":[86],"online":[87],"tests":[88],"various":[90],"objects":[91],"two":[93],"scenarios":[94],"prone":[95],"slip,":[97],"developed":[101],"hardware":[102],"platform.":[103],"Experimental":[104],"results":[105],"show":[106],"that":[107],"method":[112,124],"demonstrates":[113],"high":[114],"good":[117],"generalization":[118],"capability,":[119],"while":[120],"incorporating":[125],"property":[129],"can":[130],"achieve":[131],"safe":[132],"fine":[134],"after":[136],"occurs.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}