{"id":"https://openalex.org/W4205596827","doi":"https://doi.org/10.1109/tro.2021.3129630","title":"Transferable Collision Detection Learning for Collaborative Manipulator Using Versatile Modularized Neural Network","display_name":"Transferable Collision Detection Learning for Collaborative Manipulator Using Versatile Modularized Neural Network","publication_year":2021,"publication_date":"2021-12-21","ids":{"openalex":"https://openalex.org/W4205596827","doi":"https://doi.org/10.1109/tro.2021.3129630"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3129630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3129630","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5041763219","display_name":"Donghyeon Kim","orcid":"https://orcid.org/0000-0002-9549-8758"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Donghyeon Kim","raw_affiliation_strings":["Department of Intelligence and Information, and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-9549-8758","affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023725931","display_name":"Daegyu Lim","orcid":"https://orcid.org/0000-0002-0012-1799"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daegyu Lim","raw_affiliation_strings":["Department of Intelligence and Information, and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0012-1799","affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Department of Intelligence and Information, and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea","Advanced Institutes of Convergence Technology, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5062-8264","affiliations":[{"raw_affiliation_string":"Department of Intelligence and Information, and Automation and Systems Research Institute, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Suwon, South Korea","institution_ids":["https://openalex.org/I4210120602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.5619,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.95058565,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":"38","issue":"4","first_page":"2426","last_page":"2445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10809","display_name":"Occupational Health and Safety Research","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10809","display_name":"Occupational Health and Safety Research","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9696999788284302,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9447000026702881,"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/collision","display_name":"Collision","score":0.6955472826957703},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6406876444816589},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6355951428413391},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6121907830238342},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5688095092773438},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5340173840522766},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5162603855133057},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5126582980155945},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.4874122440814972},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4653533101081848}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.6955472826957703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6406876444816589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6355951428413391},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6121907830238342},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5688095092773438},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5340173840522766},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5162603855133057},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5126582980155945},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.4874122440814972},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4653533101081848},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2021.3129630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3129630","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1513873506","https://openalex.org/W1588337522","https://openalex.org/W1994022788","https://openalex.org/W2015413619","https://openalex.org/W2032536435","https://openalex.org/W2053724458","https://openalex.org/W2066507076","https://openalex.org/W2084559623","https://openalex.org/W2100805904","https://openalex.org/W2112483442","https://openalex.org/W2115282423","https://openalex.org/W2116113712","https://openalex.org/W2131245153","https://openalex.org/W2149085596","https://openalex.org/W2159746877","https://openalex.org/W2165698076","https://openalex.org/W2221590109","https://openalex.org/W2561340204","https://openalex.org/W2737054170","https://openalex.org/W2754051771","https://openalex.org/W2762248135","https://openalex.org/W2762841298","https://openalex.org/W2768174095","https://openalex.org/W2769634371","https://openalex.org/W2782774414","https://openalex.org/W2789905221","https://openalex.org/W2884887987","https://openalex.org/W2893801338","https://openalex.org/W2910081881","https://openalex.org/W2936503027","https://openalex.org/W2954761708","https://openalex.org/W2963351448","https://openalex.org/W2971054685","https://openalex.org/W2980619526","https://openalex.org/W2990122260","https://openalex.org/W2992525328","https://openalex.org/W2999904973","https://openalex.org/W3000665539","https://openalex.org/W3022270612","https://openalex.org/W3031798691","https://openalex.org/W3050117361","https://openalex.org/W3094493488","https://openalex.org/W3094502228","https://openalex.org/W3147968035","https://openalex.org/W3157506437","https://openalex.org/W3181074849","https://openalex.org/W3207893046","https://openalex.org/W4213251304","https://openalex.org/W4243367342","https://openalex.org/W6605134655","https://openalex.org/W6771378952","https://openalex.org/W6784333009","https://openalex.org/W6795140394"],"related_works":["https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311","https://openalex.org/W3138645172","https://openalex.org/W2148917807","https://openalex.org/W3215492696","https://openalex.org/W2028510469","https://openalex.org/W913501818","https://openalex.org/W4379525781"],"abstract_inverted_index":{"As":[0],"human-robot":[1],"collaboration":[2],"increases":[3],"and":[4,37,84,106,142,193,214,252,265,294],"robots":[5,30,264],"are":[6,61,75,92,259],"applied":[7,276,295],"to":[8,26,32,50,111,119,145,188,208,221,230,274,284,296],"everyday":[9],"life,":[10,23],"interest":[11],"in":[12,21,24,69,131],"safety":[13],"issues":[14],"is":[15,82,104,127,137,150,186,202,235,272],"increasing.":[16],"To":[17],"be":[18,146,275],"safely":[19],"used":[20],"real":[22],"addition":[25],"collision":[27,44,56,80,90,102,212,242,253],"prevention":[28],"algorithms,":[29],"need":[31],"quickly":[33],"detect":[34],"unexpected":[35],"collisions":[36],"take":[38,189],"appropriate":[39],"actions.":[40],"Recently,":[41],"deep":[42,65,116,227],"learning-based":[43],"detection":[45,57],"algorithms":[46],"have":[47],"been":[48],"proposed":[49,157,200,249],"overcome":[51],"the":[52,89,96,112,115,162,168,172,175,179,183,199,218,223,245,297],"limitations":[53,63,224],"of":[54,171,178,225],"model-based":[55],"methods,":[58,67],"but":[59],"there":[60],"also":[62],"on":[64,124,139,277],"learning":[66,117,228,234],"especially":[68],"data":[70,74,81,91,103,243,293],"collection.":[71],"The":[72,156,248,269],"collected":[73],"often":[76],"insufficient":[77,153],"because":[78],"collecting":[79,101],"laborious":[83],"intrinsically":[85],"imbalanced,":[86],"meaning":[87],"that":[88],"much":[93],"smaller":[94],"than":[95],"free-motion":[97],"data.":[98,155],"Moreover,":[99,182],"since":[100],"risky":[105],"might":[107],"cause":[108],"potential":[109],"damage":[110],"robot,":[113],"applying":[114,226],"method":[118,201,251,256],"a":[120,285],"new":[121],"target":[122,246,267],"robot":[123,292],"mass":[125,231,278],"production":[126,279],"highly":[128],"restricted.":[129],"Therefore,":[130],"this":[132],"article,":[133],"an":[134],"inductive":[135],"bias":[136],"imposed":[138],"network":[140,160,271,288],"structure":[141],"input":[143,184],"variable":[144,185],"sample-efficiently":[147],"trained,":[148],"which":[149,237],"suitable":[151],"for":[152,257],"imbalanced":[154],"modularized":[158],"neural":[159],"removes":[161],"connection":[163],"between":[164],"other":[165],"joints":[166],"at":[167,217],"front":[169],"part":[170],"network,":[173],"reducing":[174],"search":[176],"space":[177],"learnable":[180],"parameter.":[181],"selected":[187],"both":[190],"dynamics":[191],"features":[192,195],"error-related":[194],"into":[196],"account.":[197],"Consequently,":[198],"versatile,":[203],"showing":[204],"successful":[205],"generalization":[206],"performance":[207,282],"random":[209,211],"motion,":[210],"location,":[213],"various":[215],"loads":[216],"end-effector.":[219],"Furthermore,":[220],"circumvent":[222],"methods":[229],"production,":[232],"transfer":[233],"proposed,":[236],"does":[238],"not":[239],"require":[240],"any":[241],"from":[244],"robot.":[247,268],"data-mixture":[250],"ratio":[254],"adjustment":[255],"fine-tuning":[258],"validated":[260],"with":[261,290],"two":[262],"source":[263],"one":[266],"transferred":[270],"effective":[273],"without":[280],"losing":[281],"compared":[283],"specific-robot-trained":[286],"network(a":[287],"trained":[289],"specific":[291],"same":[298],"robot).":[299]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}