{"id":"https://openalex.org/W2074706571","doi":"https://doi.org/10.1109/urai.2014.7057477","title":"Dual arm peg-in-hole assembly with a programmed compliant system","display_name":"Dual arm peg-in-hole assembly with a programmed compliant system","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2074706571","doi":"https://doi.org/10.1109/urai.2014.7057477","mag":"2074706571"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2014.7057477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2014.7057477","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5103100532","display_name":"Hyeonjun Park","orcid":"https://orcid.org/0000-0002-9664-7444"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyeonjun Park","raw_affiliation_strings":["Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","Korea Institute of Industrial Technology, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","institution_ids":[]},{"raw_affiliation_string":"Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005260438","display_name":"Peter Ki Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Peter Ki Kim","raw_affiliation_strings":["Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","Korea Institute of Industrial Technology, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","institution_ids":[]},{"raw_affiliation_string":"Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062995411","display_name":"Ji\u2010Hun Bae","orcid":"https://orcid.org/0000-0002-7859-3091"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji-Hun Bae","raw_affiliation_strings":["Korea Institute of Industrial Technology, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068836418","display_name":"Jae\u2010Han Park","orcid":"https://orcid.org/0000-0001-5837-3131"},"institutions":[{"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"]},{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Han Park","raw_affiliation_strings":["Advanced Institutes of Convergence Technology, Suwon, Korea","Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","Korea Institute of Industrial Technology, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Suwon, Korea","institution_ids":["https://openalex.org/I4210120602"]},{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","institution_ids":[]},{"raw_affiliation_string":"Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072764066","display_name":"Moon-Hong Baeg","orcid":"https://orcid.org/0000-0001-5493-8238"},"institutions":[{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moon-Hong Baeg","raw_affiliation_strings":["Korea Institute of Industrial Technology, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]},{"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/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"]},{"id":"https://openalex.org/I89004649","display_name":"Korea Institute of Industrial Technology","ror":"https://ror.org/04qfph657","country_code":"KR","type":"other","lineage":["https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I89004649"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Advanced Institutes of Convergence Technology, Suwon, Korea","Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","Korea Institute of Industrial Technology, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Suwon, Korea","institution_ids":["https://openalex.org/I4210120602"]},{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea","institution_ids":[]},{"raw_affiliation_string":"Korea Institute of Industrial Technology, Ansan, Korea","institution_ids":["https://openalex.org/I89004649"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"431","last_page":"433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9966999888420105,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9957000017166138,"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/task","display_name":"Task (project management)","score":0.7711528539657593},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6277303695678711},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6121735572814941},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5278674960136414},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5150687098503113},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4578792452812195},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4201016426086426},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4029139578342438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25625431537628174},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23865413665771484},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.141830712556839},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13088959455490112},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10038629174232483}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7711528539657593},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6277303695678711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6121735572814941},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5278674960136414},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5150687098503113},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4578792452812195},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4201016426086426},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4029139578342438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25625431537628174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23865413665771484},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.141830712556839},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13088959455490112},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10038629174232483},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2014.7057477","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2014.7057477","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2064557786","https://openalex.org/W2071014788","https://openalex.org/W2099230755","https://openalex.org/W2105660272","https://openalex.org/W2112474089","https://openalex.org/W2112535044","https://openalex.org/W2115617434","https://openalex.org/W2147168033","https://openalex.org/W6666610528","https://openalex.org/W6677104672"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W4313255720","https://openalex.org/W2317351040","https://openalex.org/W1992538606","https://openalex.org/W8302103","https://openalex.org/W2548273422","https://openalex.org/W2921933148","https://openalex.org/W2658949566","https://openalex.org/W3213722473","https://openalex.org/W2110944602"],"abstract_inverted_index":{"In":[0,72],"order":[1,73],"to":[2,15,64,74],"accomplish":[3],"a":[4,8,10,28,62,76,118],"peg-in-hole":[5,29,70,115],"task":[6,30,104],"with":[7,31,117],"manipulator,":[9],"cognition":[11,44],"process":[12,45],"is":[13,88],"needed":[14],"extract":[16],"the":[17,21,25,43,69,78],"positional":[18],"information":[19],"of":[20,27,80],"objects.":[22],"However,":[23],"in":[24,39,68,103],"case":[26],"an":[32,40,82,94,111],"extremely":[33,65],"small":[34,66],"clearance,":[35],"or":[36],"for":[37],"work":[38],"unstructured":[41],"environment,":[42],"has":[46,58],"limited":[47],"accuracy,":[48],"caused":[49],"by":[50,110],"factors":[51],"such":[52],"as":[53,61],"resolution":[54],"and":[55,106],"disturbance.":[56],"Compliance":[57],"been":[59],"considered":[60],"solution":[63],"clearance":[67],"task.":[71],"give":[75],"manipulator":[77],"characteristic":[79],"compliance,":[81,98],"RCC":[83],"(remote":[84],"center":[85],"compliance)":[86],"device":[87],"generally":[89],"used.":[90],"This":[91],"paper":[92],"proposes":[93],"alternative:":[95],"Programmed":[96],"variable":[97],"using":[99],"virtual":[100],"spring":[101],"controllers":[102],"space,":[105],"verifies":[107],"its":[108],"effectiveness":[109],"experiment":[112],"involving":[113],"fine":[114],"insertion":[116],"dual":[119],"arm":[120],"robot.":[121]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
