{"id":"https://openalex.org/W4415048773","doi":"https://doi.org/10.1109/tie.2025.3598187","title":"A Whisker-Like 2-D Contact Sensor for Environmental Perception of Mobile Robots","display_name":"A Whisker-Like 2-D Contact Sensor for Environmental Perception of Mobile Robots","publication_year":2025,"publication_date":"2025-10-10","ids":{"openalex":"https://openalex.org/W4415048773","doi":"https://doi.org/10.1109/tie.2025.3598187"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3598187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3598187","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","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/A5100584383","display_name":"Junjie Luo","orcid":"https://orcid.org/0009-0001-7027-3181"},"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":true,"raw_author_name":"Junjie Luo","raw_affiliation_strings":["META Robotics Institute and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, P. R. China"],"affiliations":[{"raw_affiliation_string":"META Robotics Institute and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049873256","display_name":"Siyue Yao","orcid":"https://orcid.org/0000-0003-2562-3055"},"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":"Siyue Yao","raw_affiliation_strings":["META Robotics Institute and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, P. R. China"],"affiliations":[{"raw_affiliation_string":"META Robotics Institute and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100402146","display_name":"Tao Yu","orcid":"https://orcid.org/0009-0004-3630-0694"},"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":"Tao Yu","raw_affiliation_strings":["META Robotics Institute and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, P. R. China"],"affiliations":[{"raw_affiliation_string":"META Robotics Institute and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114526328","display_name":"Yanjun Wang","orcid":"https://orcid.org/0009-0007-4706-8853"},"institutions":[{"id":"https://openalex.org/I4210105312","display_name":"Shanghai Power Equipment Research Institute","ror":"https://ror.org/01pw44479","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210105312"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjun Wang","raw_affiliation_strings":["Institute of Marine Equipment, Shanghai Jiao Tong University, Shanghai, P. R. China"],"affiliations":[{"raw_affiliation_string":"Institute of Marine Equipment, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I4210105312"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102889551","display_name":"Hao Wang","orcid":"https://orcid.org/0009-0005-8438-4279"},"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":"Hao Wang","raw_affiliation_strings":["Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures and the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, P. R. China"],"affiliations":[{"raw_affiliation_string":"Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures and the State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012109138","display_name":"Genliang Chen","orcid":"https://orcid.org/0000-0002-1011-2116"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Genliang Chen","raw_affiliation_strings":["META Robotics Institute and the Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, P. R. China"],"affiliations":[{"raw_affiliation_string":"META Robotics Institute and the Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai, P. R. China","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100584383"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28801822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"2","first_page":"2544","last_page":"2553"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.631600022315979,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.631600022315979,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/planar","display_name":"Planar","score":0.6389999985694885},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.618399977684021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5180000066757202},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.508899986743927},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.5029000043869019},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.47780001163482666},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.460099995136261},{"id":"https://openalex.org/keywords/position-sensor","display_name":"Position sensor","score":0.44940000772476196}],"concepts":[{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6389999985694885},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.618399977684021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5180000066757202},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5148000121116638},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.508899986743927},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.5029000043869019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47859999537467957},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.47780001163482666},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.460099995136261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4553000032901764},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.44940000772476196},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4097999930381775},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37310001254081726},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.36820000410079956},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.3634999990463257},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34950000047683716},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3416000008583069},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2987000048160553},{"id":"https://openalex.org/C179909247","wikidata":"https://www.wikidata.org/wiki/Q1783143","display_name":"Contact mechanics","level":3,"score":0.29420000314712524},{"id":"https://openalex.org/C33373654","wikidata":"https://www.wikidata.org/wiki/Q5164821","display_name":"Contact area","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C115575686","wikidata":"https://www.wikidata.org/wiki/Q18822403","display_name":"Soft sensor","level":3,"score":0.27309998869895935},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2513999938964844},{"id":"https://openalex.org/C3020050198","wikidata":"https://www.wikidata.org/wiki/Q6935027","display_name":"Multi point","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3598187","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3598187","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4796036674","display_name":null,"funder_award_id":"52022056","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1622483838","https://openalex.org/W1624843548","https://openalex.org/W2029513180","https://openalex.org/W2031657062","https://openalex.org/W2051361380","https://openalex.org/W2088324165","https://openalex.org/W2131496938","https://openalex.org/W2150364799","https://openalex.org/W2152473287","https://openalex.org/W2322535512","https://openalex.org/W2785973553","https://openalex.org/W2807275354","https://openalex.org/W2984606680","https://openalex.org/W3093809030","https://openalex.org/W3113129017","https://openalex.org/W3118731294","https://openalex.org/W3119695678","https://openalex.org/W3134950690","https://openalex.org/W3157151241","https://openalex.org/W3178471130","https://openalex.org/W4210767564","https://openalex.org/W4223443210","https://openalex.org/W4243619221","https://openalex.org/W4285245521","https://openalex.org/W4285506674","https://openalex.org/W4376605620","https://openalex.org/W4383960574","https://openalex.org/W4386869592","https://openalex.org/W4390734025","https://openalex.org/W4400727515","https://openalex.org/W4400770620","https://openalex.org/W4406012016","https://openalex.org/W4406142040","https://openalex.org/W4407252924"],"related_works":[],"abstract_inverted_index":{"Exploring":[0],"the":[1,25,41,45,63,67,72,95,98,106,116],"surrounding":[2],"environment":[3],"plays":[4],"a":[5,14,53,112],"critical":[6],"role":[7],"in":[8,40,100,119],"robotic":[9,120],"systems.":[10],"This":[11],"article":[12],"introduces":[13],"compact":[15],"whisker-like":[16],"sensor":[17,34,68,99],"for":[18],"planar":[19],"contact":[20,38,80,103],"point":[21,39,81],"estimation":[22],"based":[23],"on":[24],"continuum":[26],"mechanics":[27],"of":[28,37,44,56,66,79,89,97],"slender":[29],"elastic":[30],"beams.":[31],"The":[32],"proposed":[33,107],"achieves":[35],"perception":[36,122],"intermediate":[42],"location":[43],"beam":[46],"by":[47],"measuring":[48],"several":[49],"local":[50,75],"deformations":[51],"through":[52,123],"small":[54],"number":[55],"strain":[57],"gauges.":[58],"An":[59],"explicit":[60],"model":[61],"characterizing":[62],"force-deflection":[64],"behavior":[65],"is":[69],"developed,":[70],"establishing":[71],"relationship":[73],"between":[74],"bending":[76],"and":[77,84,128],"position":[78],"under":[82],"frictional":[83],"large-deformation":[85],"conditions.":[86],"A":[87],"series":[88],"experiments":[90],"are":[91,109],"conducted":[92],"to":[93],"validate":[94],"accuracy":[96],"detecting":[101],"2-D":[102],"points.":[104],"Furthermore,":[105],"sensors":[108],"integrated":[110],"into":[111],"mobile":[113],"robot,":[114],"demonstrating":[115],"potential":[117],"application":[118],"environmental":[121],"width":[124],"sensing,":[125],"contour":[126],"following,":[127],"reconstruction.":[129]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-11T00:00:00"}
