{"id":"https://openalex.org/W4407405201","doi":"https://doi.org/10.1109/sii59315.2025.10871089","title":"Versatile Robotic System for Assembly Tasks Using Flexible Mechanism","display_name":"Versatile Robotic System for Assembly Tasks Using Flexible Mechanism","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407405201","doi":"https://doi.org/10.1109/sii59315.2025.10871089"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10871089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","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/A5108571939","display_name":"Masanori Ueda","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masanori Ueda","raw_affiliation_strings":["Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019524829","display_name":"Ryunosuke Yamada","orcid":"https://orcid.org/0009-0004-9084-0878"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryunosuke Yamada","raw_affiliation_strings":["Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010032030","display_name":"Tokuo Tsuji","orcid":"https://orcid.org/0000-0002-1573-1928"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tokuo Tsuji","raw_affiliation_strings":["Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kaihei Okada","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaihei Okada","raw_affiliation_strings":["Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079447828","display_name":"Takehiro Nishimura","orcid":"https://orcid.org/0000-0002-6600-9193"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takehiro Nishimura","raw_affiliation_strings":["Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192","Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]},{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001307394","display_name":"Ryota Shimizu","orcid":"https://orcid.org/0000-0001-9600-7255"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryota Shimizu","raw_affiliation_strings":["Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116241844","display_name":"Yuya Otsu","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuya Otsu","raw_affiliation_strings":["Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064986028","display_name":"Kaori Yoshino","orcid":null},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaori Yoshino","raw_affiliation_strings":["Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036841612","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0002-7092-4618"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007478938","display_name":"Toshihiro Nishimura","orcid":"https://orcid.org/0000-0003-2858-6368"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshihiro Nishimura","raw_affiliation_strings":["Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192","Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]},{"raw_affiliation_string":"Kanazawa University,Student of Graduate School of Natural Science and Technology,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061532363","display_name":"Tetsuyou Watanabe","orcid":"https://orcid.org/0000-0003-2549-1435"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuyou Watanabe","raw_affiliation_strings":["Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kanazawa University,Faculty of Frontier Engineering, Institute of Science and Engineering,Kanazawa-shi, Ishikawa,Japan,920-1192","institution_ids":["https://openalex.org/I10091056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I10091056"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1440","last_page":"1446"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9641000032424927,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9641000032424927,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9401999711990356,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9330000281333923,"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/mechanism","display_name":"Mechanism (biology)","score":0.7444237470626831},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6637992262840271},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.46527737379074097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43468087911605835},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3798891305923462},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36609718203544617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2293701469898224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20858290791511536},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10899049043655396}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7444237470626831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6637992262840271},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.46527737379074097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43468087911605835},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3798891305923462},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36609718203544617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2293701469898224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20858290791511536},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10899049043655396},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10871089","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871089","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2008731016","https://openalex.org/W2044627378","https://openalex.org/W2082991751","https://openalex.org/W2131508608","https://openalex.org/W2150382645","https://openalex.org/W2294804697","https://openalex.org/W2808405904","https://openalex.org/W2973476211","https://openalex.org/W2973795644","https://openalex.org/W3011957788","https://openalex.org/W3195288600","https://openalex.org/W3199851934","https://openalex.org/W3206241064","https://openalex.org/W4220849268","https://openalex.org/W4280571816","https://openalex.org/W4309447731","https://openalex.org/W4386076325","https://openalex.org/W4386126859"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W2527333706","https://openalex.org/W2808090143","https://openalex.org/W2259778155","https://openalex.org/W1640559846"],"abstract_inverted_index":{"We":[0,104],"propose":[1],"an":[2,91],"assembly":[3,26,59,107],"system":[4,37,53,94,100],"involving":[5],"two":[6],"robotic":[7],"arms":[8],"with":[9,124],"flexible":[10,13,76],"mechanisms.":[11],"These":[12],"joints":[14,77],"provide":[15],"passive":[16],"compliance,":[17],"allowing":[18],"the":[19,55,75,79],"robots":[20],"to":[21,109],"absorb":[22],"positional":[23,50],"errors":[24],"between":[25],"parts":[27],"and":[28,45,70,95,120,130],"their":[29],"respective":[30],"destinations.":[31],"Our":[32],"machine":[33,71],"learning-based":[34],"object":[35,102],"detection":[36],"shows":[38],"robustness":[39],"against":[40],"variations":[41],"in":[42],"color,":[43],"shape,":[44],"ambient":[46],"lighting,":[47],"achieving":[48],"high":[49],"accuracy.":[51],"This":[52],"achieves":[54],"execution":[56],"of":[57],"diverse":[58],"tasks":[60,115],"using":[61,101],"a":[62,67,96],"single":[63],"setup,":[64],"facilitated":[65],"by":[66],"universal":[68],"gripper":[69],"learning":[72],"capabilities.":[73],"Furthermore,":[74],"minimize":[78],"need":[80],"for":[81],"precise":[82],"trajectory":[83],"planning.":[84],"In":[85],"our":[86],"study,":[87],"we":[88],"implemented":[89],"both":[90],"instruction":[92],"support":[93],"position":[97],"error":[98],"correction":[99],"detection.":[103],"conducted":[105],"real-world":[106],"experiments":[108],"evaluate":[110],"these":[111],"systems,":[112],"focusing":[113],"on":[114],"such":[116],"as":[117],"screw":[118],"tightening":[119],"belt":[121],"drive":[122],"assembly,":[123],"alignment":[125],"achieved":[126],"through":[127],"vision":[128],"feedback":[129,132],"force":[131],"control.":[133]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}