{"id":"https://openalex.org/W4402510796","doi":"https://doi.org/10.1109/rcar61438.2024.10671319","title":"Deformability-Aware Stiffness-Guided Robotic Grasping Strategy based on Tactile Sensing","display_name":"Deformability-Aware Stiffness-Guided Robotic Grasping Strategy based on Tactile Sensing","publication_year":2024,"publication_date":"2024-06-24","ids":{"openalex":"https://openalex.org/W4402510796","doi":"https://doi.org/10.1109/rcar61438.2024.10671319"},"language":"en","primary_location":{"id":"doi:10.1109/rcar61438.2024.10671319","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar61438.2024.10671319","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5111056910","display_name":"Yuru Gong","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":"Yuru Gong","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375985","display_name":"Yuxuan Wang","orcid":"https://orcid.org/0000-0002-5235-6362"},"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":"Yuxuan Wang","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471000","display_name":"Jianhua Wu","orcid":"https://orcid.org/0000-0002-2410-5013"},"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":"Jianhua Wu","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"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":"Zhenhua Xiong","raw_affiliation_strings":["Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,School of Mechanical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"31","last_page":"37"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9957000017166138,"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":0.9957000017166138,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9890999794006348,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6307728886604309},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.5831931829452515},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5672924518585205},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5428443551063538},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4492114186286926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44740819931030273},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3941219449043274},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33851712942123413},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3334173858165741},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2539899945259094},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09407225251197815}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6307728886604309},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.5831931829452515},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5672924518585205},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5428443551063538},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4492114186286926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44740819931030273},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3941219449043274},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33851712942123413},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3334173858165741},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2539899945259094},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09407225251197815}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar61438.2024.10671319","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rcar61438.2024.10671319","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1971858902","https://openalex.org/W2039286876","https://openalex.org/W2194775991","https://openalex.org/W2904780365","https://openalex.org/W2944851425","https://openalex.org/W2948998194","https://openalex.org/W2962737955","https://openalex.org/W2963033241","https://openalex.org/W2963263790","https://openalex.org/W2972606275","https://openalex.org/W3011275252","https://openalex.org/W3014178869","https://openalex.org/W3087791475","https://openalex.org/W3090651099","https://openalex.org/W3091465854","https://openalex.org/W3093165378","https://openalex.org/W3205355686","https://openalex.org/W3205933337","https://openalex.org/W4225492355","https://openalex.org/W4387533919","https://openalex.org/W4390729586","https://openalex.org/W4390871577","https://openalex.org/W4390874575","https://openalex.org/W4391144418","https://openalex.org/W4392140906","https://openalex.org/W6631190155","https://openalex.org/W6631943919","https://openalex.org/W6800004206"],"related_works":["https://openalex.org/W2614950215","https://openalex.org/W1979945082","https://openalex.org/W2998163826","https://openalex.org/W4296901090","https://openalex.org/W3163518500","https://openalex.org/W1895481218","https://openalex.org/W2147184921","https://openalex.org/W2137009401","https://openalex.org/W2466694098","https://openalex.org/W2406928014"],"abstract_inverted_index":{"The":[0,165],"absence":[1],"of":[2,24,34,65,153,163,167,178,192,244,257],"contact":[3,254],"perception":[4,255],"in":[5,11,17,37,181,211,228,242,265],"conventional":[6],"robotic":[7,35,52,260],"grasping":[8,53,152,202,208,233,243],"methods":[9],"used":[10],"manufacturing":[12],"poses":[13],"a":[14,48,88,139,239],"significant":[15],"challenge":[16],"handling":[18,64],"deformable":[19,43,69,105,229,248],"objects,":[20,106,249],"elevating":[21],"the":[22,32,63,96,137,151,175,182,200,212,218,253],"risk":[23],"causing":[25],"permanent":[26],"object":[27],"damage.":[28],"This":[29],"limitation":[30],"restricts":[31],"application":[33],"manipulation":[36,261],"scenarios":[38,267],"involving":[39],"both":[40,66,245],"rigid":[41,67,127,246],"and":[42,58,68,84,189,247,262,271],"objects.":[44],"We":[45],"thus":[46],"propose":[47],"novel":[49,89],"deformation-aware":[50],"stiffness-guided":[51,219],"strategy":[54,203,220],"that":[55,91,217],"integrates":[56],"tactile":[57,98,112,146],"visual":[59],"information":[60],"to":[61,121,184,235],"facilitate":[62],"objects":[70,128,155,180,230],"while":[71,126],"minimizing":[72],"deformation.":[73],"Object":[74],"deformability":[75,140],"is":[76,109],"initially":[77],"classified":[78],"into":[79],"three":[80],"categories\u2014rigid,":[81],"slightly":[82],"deformable,":[83],"highly":[85],"deformable\u2014using":[86],"DeformNet,":[87,138],"network":[90],"captures":[92],"spatial-temporal":[93],"features":[94],"from":[95,111],"high-density":[97],"sensor":[99],"data":[100,113],"during":[101,114,150],"pre-grasping.":[102],"Subsequently,":[103],"for":[104,209,231],"stiffness":[107,168,187,196],"distribution":[108,169],"inferred":[110,176],"visual-guided":[115],"exploration,":[116],"combined":[117],"with":[118,156,194],"RGBD":[119],"images":[120],"generate":[122],"deformation-minimizing":[123],"grasp":[124,158,224],"poses,":[125,159,225],"are":[129],"manipulated":[130],"based":[131],"solely":[132],"on":[133],"images.":[134],"To":[135],"validate":[136],"dataset":[141,183],"comprising":[142],"13,020":[143],"temporally":[144],"segmented":[145],"sequences":[147],"was":[148,171,204],"collected":[149],"24":[154],"various":[157],"achieving":[160],"an":[161],"accuracy":[162],"94.88%.":[164],"effectiveness":[166],"inference":[170],"confirmed":[172],"by":[173],"comparing":[174],"results":[177],"nine":[179],"their":[185],"true":[186],"distributions,":[188],"quantifying":[190],"deformation":[191],"areas":[193],"varied":[195],"through":[197],"simulation.":[198],"Furthermore,":[199],"proposed":[201],"compared":[205,234],"against":[206],"visual-only":[207,236],"cups":[210],"real":[213],"world.":[214],"Results":[215],"demonstrated":[216],"yielded":[221],"significantly":[222],"different":[223],"reducing":[226],"deformations":[227],"stable":[232],"approaches.":[237],"As":[238],"pioneering":[240],"study":[241],"our":[250],"work":[251],"advances":[252],"capability":[256],"robots,":[258],"enabling":[259],"human-robot":[263],"collaboration":[264],"unstructured":[266],"such":[268],"as":[269],"domestic":[270],"service":[272],"industries.":[273]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
