{"id":"https://openalex.org/W2052352177","doi":"https://doi.org/10.1109/coase.2013.6653928","title":"Robotic surface assembly via contact state transitions","display_name":"Robotic surface assembly via contact state transitions","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W2052352177","doi":"https://doi.org/10.1109/coase.2013.6653928","mag":"2052352177"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2013.6653928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6653928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5031170439","display_name":"Amar Saric","orcid":null},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amar Saric","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Charlotte, Charlotte, USA","[Dept. of Comput. Sci., Univ. of North Carolina at Charlotte, Charlotte, NC, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Charlotte, Charlotte, USA","institution_ids":["https://openalex.org/I102149020"]},{"raw_affiliation_string":"[Dept. of Comput. Sci., Univ. of North Carolina at Charlotte, Charlotte, NC, USA]","institution_ids":["https://openalex.org/I102149020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070173803","display_name":"Jing Xiao","orcid":"https://orcid.org/0000-0002-5242-7909"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jing Xiao","raw_affiliation_strings":["Department of Computer Science, University of North Carolina at Charlotte, Charlotte, USA","[Dept. of Comput. Sci., Univ. of North Carolina at Charlotte, Charlotte, NC, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of North Carolina at Charlotte, Charlotte, USA","institution_ids":["https://openalex.org/I102149020"]},{"raw_affiliation_string":"[Dept. of Comput. Sci., Univ. of North Carolina at Charlotte, Charlotte, NC, USA]","institution_ids":["https://openalex.org/I102149020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069886050","display_name":"Jane Shi","orcid":"https://orcid.org/0000-0002-9013-3856"},"institutions":[{"id":"https://openalex.org/I4210113932","display_name":"Materials Systems (United States)","ror":"https://ror.org/027smmx64","country_code":"US","type":"company","lineage":["https://openalex.org/I4210113932"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jane Shi","raw_affiliation_strings":["GM Global R & D Center, Warren, MI, USA","GM Global R&D Center, Warren, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GM Global R & D Center, Warren, MI, USA","institution_ids":[]},{"raw_affiliation_string":"GM Global R&D Center, Warren, MI, USA","institution_ids":["https://openalex.org/I4210113932"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5271,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.85281396,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"27","issue":null,"first_page":"954","last_page":"959"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9976999759674072,"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":0.9943000078201294,"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/motion-planning","display_name":"Motion planning","score":0.6705227494239807},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5735242366790771},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5610804557800293},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5563807487487793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5447053909301758},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49018794298171997},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4779227375984192},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4608582556247711},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.45589613914489746},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.44901415705680847},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4342443346977234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36201539635658264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30717575550079346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25199198722839355},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20095720887184143},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10201281309127808}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6705227494239807},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5735242366790771},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5610804557800293},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5563807487487793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5447053909301758},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49018794298171997},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4779227375984192},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4608582556247711},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.45589613914489746},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.44901415705680847},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4342443346977234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36201539635658264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30717575550079346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25199198722839355},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20095720887184143},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10201281309127808},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2013.6653928","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6653928","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.75}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1560840829","https://openalex.org/W1837543517","https://openalex.org/W1951426807","https://openalex.org/W1971356832","https://openalex.org/W1972048784","https://openalex.org/W1990451985","https://openalex.org/W2000807557","https://openalex.org/W2008731016","https://openalex.org/W2015003349","https://openalex.org/W2025939589","https://openalex.org/W2025998811","https://openalex.org/W2034469604","https://openalex.org/W2055339153","https://openalex.org/W2058544403","https://openalex.org/W2062691475","https://openalex.org/W2087999934","https://openalex.org/W2102128251","https://openalex.org/W2105360813","https://openalex.org/W2105660272","https://openalex.org/W2106830746","https://openalex.org/W2110320103","https://openalex.org/W2112624395","https://openalex.org/W2119313793","https://openalex.org/W2124994918","https://openalex.org/W2136426771","https://openalex.org/W2142175747","https://openalex.org/W2146431525","https://openalex.org/W2161718138","https://openalex.org/W2163298372","https://openalex.org/W2164450398","https://openalex.org/W2168731830","https://openalex.org/W2171025682","https://openalex.org/W2173462388","https://openalex.org/W2174829817","https://openalex.org/W2337770697","https://openalex.org/W2500118396","https://openalex.org/W2569641373","https://openalex.org/W2610796673","https://openalex.org/W2901136733","https://openalex.org/W6640930982","https://openalex.org/W6675062615","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220","https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1984186897","https://openalex.org/W1976172674"],"abstract_inverted_index":{"In":[0,114],"order":[1],"for":[2,91,132,140,154],"a":[3,41,70,88,119,124,135,141,160,173],"robotic":[4],"manipulator":[5,82,93,143],"to":[6,24,58,87,94,121,144],"accomplish":[7],"an":[8,182],"assembly":[9,133,183,205],"task":[10,46,112,130],"of":[11,14,50,53,66,172,190,193,214,231],"mating":[12],"surfaces":[13],"two":[15],"parts,":[16],"compliant":[17,31,42,71,102,126,188],"motion":[18,28,32],"planning":[19,40],"and":[20,27,98,150,185],"control":[21,103,161,233],"is":[22,63],"desired":[23],"overcome":[25],"position":[26],"uncertainty.":[29],"However,":[30],"planners":[33],"in":[34,44,48,111,128,181],"the":[35,45,59,64,81,92,129,170,203,229],"literature":[36],"have":[37,177],"focused":[38],"on":[39,108,164],"path":[43,72,90,127],"space":[47,131,138],"terms":[49],"contact":[51,76,194,215],"configurations":[52],"one":[54],"part":[55],"with":[56],"respect":[57],"other.":[60],"Little":[61],"addressed":[62],"issue":[65],"ensuring":[67],"that":[68,202],"such":[69],"not":[73],"only":[74],"satisfies":[75,80],"constraints":[77,83],"but":[78],"also":[79,227],"when":[84],"converted":[85],"automatically":[86,123],"joint-space":[89],"execute":[95],"without":[96,169,219],"singularities":[97],"unintended":[99],"collision.":[100],"Moreover,":[101],"strategies":[104],"are":[105,152],"often":[106],"based":[107,163],"force":[109,225],"sensing":[110],"space.":[113],"this":[115,155],"paper,":[116],"we":[117],"describe":[118],"method":[120],"convert":[122],"complex":[125],"into":[134],"singularity-free":[136],"joint":[137,167],"trajectory":[139],"redundant":[142],"execute.":[145],"A":[146],"7-DOF":[147],"Barrett":[148],"WAM":[149],"hand":[151],"used":[153],"study.":[156],"We":[157,176],"further":[158],"introduce":[159],"scheme":[162],"limiting":[165],"computed":[166],"torques":[168],"presence":[171],"force/torque":[174,221],"sensor.":[175],"validated":[178],"our":[179,232],"approach":[180],"experiment":[184],"tested":[186],"alternative":[187],"paths":[189],"different":[191],"sequences":[192,213],"state":[195,216],"transitions":[196],"by":[197],"successful":[198],"execution.":[199],"This":[200],"demonstrates":[201],"surface":[204],"can":[206],"be":[207],"accomplished":[208],"robustly":[209],"through":[210],"offline":[211],"planned":[212],"transitions,":[217],"even":[218],"on-line":[220],"sensing.":[222],"Estimated":[223],"end-effector":[224],"data":[226],"indicate":[228],"effectiveness":[230],"scheme.":[234]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}