{"id":"https://openalex.org/W7134955032","doi":"https://doi.org/10.1504/ijsnet.2026.152185","title":"Enabling task flexibility in humanoid robots through multi-modal perception and real-time control","display_name":"Enabling task flexibility in humanoid robots through multi-modal perception and real-time control","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7134955032","doi":"https://doi.org/10.1504/ijsnet.2026.152185"},"language":"en","primary_location":{"id":"doi:10.1504/ijsnet.2026.152185","is_oa":false,"landing_page_url":"https://doi.org/10.1504/ijsnet.2026.152185","pdf_url":null,"source":{"id":"https://openalex.org/S31905469","display_name":"International Journal of Sensor Networks","issn_l":"1748-1279","issn":["1748-1279","1748-1287"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310317825","host_organization_name":"Inderscience Publishers","host_organization_lineage":["https://openalex.org/P4310317825"],"host_organization_lineage_names":["Inderscience Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Sensor Networks","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/A5101584900","display_name":"Xiaojuan Wei","orcid":"https://orcid.org/0000-0001-5842-4939"},"institutions":[{"id":"https://openalex.org/I36152291","display_name":"Henan University of Technology","ror":"https://ror.org/05sbgwt55","country_code":"CN","type":"education","lineage":["https://openalex.org/I36152291"]},{"id":"https://openalex.org/I4210166499","display_name":"Henan Polytechnic University","ror":"https://ror.org/05vr1c885","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210166499"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaojuan Wei","raw_affiliation_strings":["Henan Engineering Research Centre of Fault-Tolerant Server, 450046, Henan, China; Department of Modern Information Technology, Henan Polytechnic, Zhengzhou Henan, 450046, China"],"affiliations":[{"raw_affiliation_string":"Henan Engineering Research Centre of Fault-Tolerant Server, 450046, Henan, China; Department of Modern Information Technology, Henan Polytechnic, Zhengzhou Henan, 450046, China","institution_ids":["https://openalex.org/I4210166499","https://openalex.org/I36152291"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039780314","display_name":"Meng Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166499","display_name":"Henan Polytechnic University","ror":"https://ror.org/05vr1c885","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210166499"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Jia","raw_affiliation_strings":["Department of Control Engineering, Henan Polytechnic, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Engineering, Henan Polytechnic, China","institution_ids":["https://openalex.org/I4210166499"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086373842","display_name":"Yongkuan Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166499","display_name":"Henan Polytechnic University","ror":"https://ror.org/05vr1c885","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210166499"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongkuan Zhu","raw_affiliation_strings":["Department of Modern Information Technology, Henan Polytechnic, Zhengzhou Henan, 450046, China"],"affiliations":[{"raw_affiliation_string":"Department of Modern Information Technology, Henan Polytechnic, Zhengzhou Henan, 450046, China","institution_ids":["https://openalex.org/I4210166499"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101584900"],"corresponding_institution_ids":["https://openalex.org/I36152291","https://openalex.org/I4210166499"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.90446682,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"50","issue":"3","first_page":"200","last_page":"221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.4271000027656555,"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":0.4271000027656555,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.12790000438690186,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.09229999780654907,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7562999725341797},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7239999771118164},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6843000054359436},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6446999907493591},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5885000228881836},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5440999865531921},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4180999994277954}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8119000196456909},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7562999725341797},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7239999771118164},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6843000054359436},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6446999907493591},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5885000228881836},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5799000263214111},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5440999865531921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4812000095844269},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4180999994277954},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38929998874664307},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.34439998865127563},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3427000045776367},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3422999978065491},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.32350000739097595},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2944999933242798},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28700000047683716},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27160000801086426},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25920000672340393}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1504/ijsnet.2026.152185","is_oa":false,"landing_page_url":"https://doi.org/10.1504/ijsnet.2026.152185","pdf_url":null,"source":{"id":"https://openalex.org/S31905469","display_name":"International Journal of Sensor Networks","issn_l":"1748-1279","issn":["1748-1279","1748-1287"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310317825","host_organization_name":"Inderscience Publishers","host_organization_lineage":["https://openalex.org/P4310317825"],"host_organization_lineage_names":["Inderscience Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Sensor Networks","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,117,158],"rising":[1],"demand":[2],"for":[3,187],"intelligent":[4],"automation":[5],"has":[6],"highlighted":[7],"the":[8,29,165],"relevance":[9],"of":[10,31,168],"adaptive":[11,98],"humanoid":[12,32,76,169],"robotics":[13],"in":[14,34,58,61,121,129,137,171],"enhancing":[15],"work":[16],"flexibility":[17,184],"within":[18],"unstructured":[19],"and":[20,43,53,67,86,94,101,111,133,154,176,182],"dynamic":[21,152],"contexts.":[22],"Prior":[23],"studies":[24],"have":[25],"predominantly":[26],"concentrated":[27],"on":[28,50],"implementation":[30],"robots":[33,105,170],"regulated,":[35],"uniform":[36],"environments,":[37,124],"characterised":[38],"by":[39,65,82],"predetermined":[40],"task":[41,130,180],"sequences":[42],"consistent":[44],"surroundings.":[45,116],"Conventional":[46],"systems,":[47],"typically":[48],"reliant":[49],"rule-based":[51],"control":[52,88],"restricted":[54],"sensing,":[55],"encounter":[56],"difficulties":[57],"functioning":[59],"efficiently":[60],"real-world":[62],"situations":[63],"marked":[64],"variability":[66],"non-standardised":[68],"processes.":[69],"This":[70],"paper":[71],"presents":[72],"FlexHuRo,":[73],"an":[74],"innovative":[75],"robotic":[77],"framework":[78,118],"that":[79],"improves":[80],"adaptability":[81],"using":[83],"multi-modal":[84],"perception":[85],"real-time":[87],"algorithms.":[89],"FlexHuRo":[90],"integrates":[91],"visual,":[92],"aural,":[93],"tactile":[95],"senses":[96],"with":[97],"motion":[99],"planning":[100],"decision-making":[102],"abilities,":[103],"enabling":[104],"to":[106,114,141,148,163],"decipher":[107],"intricate":[108],"environmental":[109,149],"signals":[110],"react":[112],"dynamically":[113],"fluctuating":[115,155],"was":[119],"assessed":[120],"semi-structured":[122],"testing":[123],"revealing":[125],"a":[126,134],"23%":[127],"enhancement":[128],"success":[131],"rates":[132],"31%":[135],"decrease":[136],"execution":[138],"time":[139],"relative":[140],"baseline":[142],"models.":[143],"It":[144],"demonstrated":[145],"robust":[146],"tolerance":[147],"variability,":[150],"including":[151,173],"impediments":[153],"illumination":[156],"conditions.":[157],"results":[159],"underscore":[160],"FlexHuRo's":[161],"capacity":[162],"facilitate":[164],"effective":[166],"operation":[167],"sectors":[172],"healthcare,":[174],"logistics,":[175],"service":[177],"industries,":[178],"where":[179],"generalisation":[181],"autonomous":[183],"are":[185],"essential":[186],"operational":[188],"success.":[189]},"counts_by_year":[],"updated_date":"2026-03-13T14:20:09.374765","created_date":"2026-03-12T00:00:00"}