{"id":"https://openalex.org/W7131064121","doi":"https://doi.org/10.1109/robio66223.2025.11379853","title":"Enhancing Manipulator Flexibility: Pose Estimation for Variable Assembly Environments Using Modular Point Cloud Matching","display_name":"Enhancing Manipulator Flexibility: Pose Estimation for Variable Assembly Environments Using Modular Point Cloud Matching","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131064121","doi":"https://doi.org/10.1109/robio66223.2025.11379853"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11379853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11379853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5114372942","display_name":"Kamogelo Teddy Theodore Moyo","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kamogelo Teddy Theodore Moyo","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053887460","display_name":"Jos\u00e9 Victorio Salazar Luces","orcid":"https://orcid.org/0000-0003-0556-9194"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jose Victorio Salazar Luces","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079210166","display_name":"Ankit A. Ravankar","orcid":"https://orcid.org/0000-0002-5104-9782"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ankit A. Ravankar","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126616351","display_name":"Yasuhisa Hirata","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hirata","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012072120","display_name":"Shota MOROZUMI","orcid":null},"institutions":[{"id":"https://openalex.org/I123919768","display_name":"Epson (United States)","ror":"https://ror.org/05ykp4255","country_code":"US","type":"company","lineage":["https://openalex.org/I123919768","https://openalex.org/I4210155314"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shota Morozumi","raw_affiliation_strings":["The author is with Seiko Epson Corporation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The author is with Seiko Epson Corporation","institution_ids":["https://openalex.org/I123919768"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.72390895,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5586000084877014,"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":0.5586000084877014,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.21639999747276306,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.029999999329447746,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/pose","display_name":"Pose","score":0.6891000270843506},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6331999897956848},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.5690000057220459},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.510200023651123},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48260000348091125},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.4699000120162964},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.46959999203681946},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4609000086784363},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.46059998869895935},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.4323999881744385}],"concepts":[{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.6891000270843506},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6331999897956848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5924999713897705},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5690000057220459},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5522000193595886},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.510200023651123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4986000061035156},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48260000348091125},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.4699000120162964},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.46959999203681946},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4609000086784363},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.46059998869895935},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4323999881744385},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.41429999470710754},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4106999933719635},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.39570000767707825},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.36570000648498535},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3610000014305115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3546999990940094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3375000059604645},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.33219999074935913},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.32120001316070557},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3066999912261963},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.29429998993873596},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28519999980926514},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2818000018596649},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.2777000069618225},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11379853","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11379853","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1953793983","https://openalex.org/W2160821342","https://openalex.org/W2575536412","https://openalex.org/W2964333597","https://openalex.org/W3013243617","https://openalex.org/W3174035324","https://openalex.org/W3216834490","https://openalex.org/W4315489308","https://openalex.org/W4387123213","https://openalex.org/W4403535093","https://openalex.org/W4403675608","https://openalex.org/W4403677644","https://openalex.org/W4408222586"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"assembly":[1,68,142],"in":[2,81,144],"variable":[3],"environments":[4],"is":[5,73,103,114],"often":[6],"hindered":[7],"by":[8,29],"rigid":[9],"programming":[10],"and":[11,17,33,53,60,107,129,136],"perception":[12,106],"systems":[13],"sensitive":[14],"to":[15,62,76,116,126],"noise":[16],"occlusion.":[18],"This":[19,131],"paper":[20],"presents":[21],"a":[22,38,50,78,89,121,134],"flexible":[23],"framework":[24],"that":[25],"overcomes":[26],"these":[27],"limitations":[28],"replacing":[30],"traditional":[31],"AprilTag":[32],"edge":[34],"detection":[35],"techniques":[36],"with":[37,55],"3D":[39,51],"vision-based":[40],"approach.":[41],"Point":[42],"clouds":[43],"of":[44,66,100],"the":[45,64,67,97,105,111],"workspace":[46],"are":[47],"captured":[48],"using":[49],"scanner":[52],"aligned":[54],"reference":[56],"models":[57],"via":[58,120],"RANSAC":[59],"ICP":[61],"estimate":[63],"pose":[65,72],"target.":[69],"The":[70],"estimated":[71],"then":[74],"used":[75],"update":[77],"digital":[79,108],"twin":[80],"Isaac":[82],"Sim,":[83],"enabling":[84],"accurate":[85],"trajectory":[86],"generation":[87],"for":[88,139],"peg-in-hole":[90],"task":[91],"under":[92],"varying":[93],"target":[94],"positions.":[95],"While":[96],"primary":[98],"focus":[99],"this":[101],"work":[102],"on":[104],"environment":[109],"update,":[110],"system":[112],"architecture":[113],"designed":[115],"integrate":[117],"future":[118],"teleoperation":[119],"Touch":[122],"HID":[123],"haptic":[124],"device":[125],"enhance":[127],"dexterity":[128],"adaptability.":[130],"approach":[132],"offers":[133],"scalable":[135],"adaptable":[137],"solution":[138],"highprecision":[140],"industrial":[141],"tasks":[143],"dynamic":[145],"settings.":[146]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-02-24T00:00:00"}