{"id":"https://openalex.org/W2147403084","doi":"https://doi.org/10.1109/robio.2007.4522376","title":"Contact task with an unknown inclined plane","display_name":"Contact task with an unknown inclined plane","publication_year":2007,"publication_date":"2007-12-01","ids":{"openalex":"https://openalex.org/W2147403084","doi":"https://doi.org/10.1109/robio.2007.4522376","mag":"2147403084"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2007.4522376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5052012326","display_name":"Nobutaka TSUJIUCHI","orcid":null},"institutions":[{"id":"https://openalex.org/I133984924","display_name":"Doshisha University","ror":"https://ror.org/01fxdkm29","country_code":"JP","type":"education","lineage":["https://openalex.org/I133984924"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nobutaka Tsujiuchi","raw_affiliation_strings":["Department of Mechanical Engineering, Doshisha University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Doshisha University, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038390680","display_name":"Takayuki KOIZUMI","orcid":"https://orcid.org/0000-0001-7066-1793"},"institutions":[{"id":"https://openalex.org/I133984924","display_name":"Doshisha University","ror":"https://ror.org/01fxdkm29","country_code":"JP","type":"education","lineage":["https://openalex.org/I133984924"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Koizumi","raw_affiliation_strings":["Department of Mechanical Engineering, Doshisha University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Doshisha University, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044730038","display_name":"Masashi Hashimoto","orcid":"https://orcid.org/0000-0002-0329-5110"},"institutions":[{"id":"https://openalex.org/I133984924","display_name":"Doshisha University","ror":"https://ror.org/01fxdkm29","country_code":"JP","type":"education","lineage":["https://openalex.org/I133984924"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Hashimoto","raw_affiliation_strings":["Department of Mechanical Engineering, Doshisha University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Doshisha University, Kyoto, Japan","institution_ids":["https://openalex.org/I133984924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I133984924"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.27043682,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1440","last_page":"1445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9980000257492065,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7562513947486877},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.717756450176239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5748952627182007},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5464507341384888},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5458758473396301},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5347966551780701},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.502375602722168},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.476161926984787},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.42272454500198364},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4223080277442932},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4160853922367096},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4132234752178192},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3817906975746155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38100117444992065},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33962056040763855},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32623767852783203},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28638768196105957},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20451930165290833},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13361874222755432},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10750323534011841},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10077458620071411},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06199091672897339}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7562513947486877},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.717756450176239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5748952627182007},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5464507341384888},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5458758473396301},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5347966551780701},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.502375602722168},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.476161926984787},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.42272454500198364},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4223080277442932},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4160853922367096},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4132234752178192},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3817906975746155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38100117444992065},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33962056040763855},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32623767852783203},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28638768196105957},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20451930165290833},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13361874222755432},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10750323534011841},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10077458620071411},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06199091672897339},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2007.4522376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1977272108","https://openalex.org/W1989529232","https://openalex.org/W2061361681","https://openalex.org/W2088801578","https://openalex.org/W2098130915","https://openalex.org/W2137044675","https://openalex.org/W2146432122","https://openalex.org/W2154086777","https://openalex.org/W3002318169","https://openalex.org/W6681946697"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W2786196354","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2071387541","https://openalex.org/W1983135609"],"abstract_inverted_index":{"In":[0,108],"recent":[1],"years,":[2],"intelligent":[3],"robots":[4,12,22],"that":[5,31,36,136],"work":[6],"automatically":[7],"have":[8,13],"become":[9],"required.":[10],"Conventional":[11],"been":[14],"used":[15,27],"in":[16,28,38],"specific":[17],"environments,":[18],"but":[19],"these":[20],"new":[21],"are":[23,32,47],"going":[24],"to":[25,54,57,88,102],"be":[26],"universal":[29,105,133],"environments":[30],"not":[33],"constant.":[34],"For":[35,82],"reason,":[37],"this":[39,109,164],"study,":[40],"we":[41,111],"attach":[42],"two":[43,113],"visual":[44],"sensors,":[45],"which":[46],"CCD":[48],"cameras,":[49],"and":[50,77,95,128,143,149,160],"one":[51],"force":[52,106,134],"sensor":[53],"a":[55,104],"robot":[56,65,74],"provide":[58],"information":[59],"on":[60],"the":[61,73,80,90,93,119,123,129,132,156,161],"outside":[62],"environment.":[63,81],"The":[64],"execute":[66],"contact":[67,150],"task,":[68],"for":[69,96],"example,":[70],"wiping":[71],"windows,":[72],"manipulator":[75],"perpendicularly":[76],"flexibly":[78],"contacts":[79],"perpendicular":[83],"contact,":[84,98],"it":[85,99],"is":[86,100,118,131],"necessary":[87],"detect":[89],"angle":[91,120],"of":[92,122,138,163],"plane":[94,125],"flexible":[97],"essential":[101],"utilize":[103],"controller.":[107,146],"paper,":[110],"propose":[112],"newly":[114],"developed":[115],"methods.":[116],"One":[117],"detection":[121,148],"inclined":[124],"by":[126],"perspective,":[127],"second":[130],"controller":[135,142],"contains":[137],"variable":[139],"stiffness":[140],"impedance":[141],"sliding":[144],"mode":[145],"Angle":[147],"task":[151],"were":[152],"carried":[153],"out":[154],"using":[155],"proposed":[157],"control":[158],"system":[159],"practicability":[162],"method":[165],"was":[166],"verified.":[167]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}