{"id":"https://openalex.org/W4311069543","doi":"https://doi.org/10.3389/frobt.2022.1064853","title":"Autonomous detection and sorting of litter using deep learning and soft robotic grippers","display_name":"Autonomous detection and sorting of litter using deep learning and soft robotic grippers","publication_year":2022,"publication_date":"2022-12-01","ids":{"openalex":"https://openalex.org/W4311069543","doi":"https://doi.org/10.3389/frobt.2022.1064853","pmid":"https://pubmed.ncbi.nlm.nih.gov/36530497"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2022.1064853","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2022.1064853","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1064853/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1064853/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009073925","display_name":"Elijah Almanzor","orcid":"https://orcid.org/0000-0001-8101-4217"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Elijah Almanzor","raw_affiliation_strings":["The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000226651","display_name":"Nzebo Richard Anvo","orcid":"https://orcid.org/0000-0003-1443-6019"},"institutions":[{"id":"https://openalex.org/I4210131850","display_name":"Costain (United Kingdom)","ror":"https://ror.org/03cpeth56","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210131850"]},{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nzebo Richard Anvo","raw_affiliation_strings":["Costain Group PLC, Cambridge, United Kingdom","The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Costain Group PLC, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I4210131850"]},{"raw_affiliation_string":"The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037510570","display_name":"Thomas George Thuruthel","orcid":"https://orcid.org/0000-0003-0571-1672"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Thomas George Thuruthel","raw_affiliation_strings":["The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009073925"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":1.1442,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.75330746,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"1064853","last_page":"1064853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9930999875068665,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9930999875068665,"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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/computer-science","display_name":"Computer science","score":0.8192340135574341},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7153220176696777},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.598800539970398},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5473669767379761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5308196544647217},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4933442175388336},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.46502089500427246},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.46454691886901855},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4470828175544739},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08827459812164307}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8192340135574341},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7153220176696777},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.598800539970398},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5473669767379761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5308196544647217},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4933442175388336},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.46502089500427246},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.46454691886901855},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4470828175544739},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08827459812164307},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":8,"locations":[{"id":"doi:10.3389/frobt.2022.1064853","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2022.1064853","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1064853/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:36530497","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36530497","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:doaj.org/article:7b71d416213d4853ac7a56c9101dd957","is_oa":true,"landing_page_url":"https://doaj.org/article/7b71d416213d4853ac7a56c9101dd957","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 9 (2022)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:9752139","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/9752139","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/343419","is_oa":true,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/343419","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:www.repository.cam.ac.uk:1810/344356","is_oa":true,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/344356","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.17863/cam.90842","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.90842","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"doi:10.17863/cam.91780","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.91780","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.3389/frobt.2022.1064853","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2022.1064853","pdf_url":"https://www.frontiersin.org/articles/10.3389/frobt.2022.1064853/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G3012409190","display_name":null,"funder_award_id":"EP/S023917/","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3055379240","display_name":"Digital Roads","funder_award_id":"EP/V056441/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4367551359","display_name":null,"funder_award_id":"EP/V056441/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6420568034","display_name":null,"funder_award_id":"828818","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7676461477","display_name":"EPSRC Centre for Doctoral Training in Agri-Food Robotics: AgriFoRwArdS","funder_award_id":"EP/S023917/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4311069543.pdf","grobid_xml":"https://content.openalex.org/works/W4311069543.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1984187759","https://openalex.org/W2007924815","https://openalex.org/W2061783885","https://openalex.org/W2547493316","https://openalex.org/W2551680314","https://openalex.org/W2560865072","https://openalex.org/W2756788323","https://openalex.org/W2883318486","https://openalex.org/W2910007909","https://openalex.org/W2912126873","https://openalex.org/W2955028204","https://openalex.org/W3001312428","https://openalex.org/W3011137323","https://openalex.org/W3092627351","https://openalex.org/W3105550226","https://openalex.org/W3122117959","https://openalex.org/W3144878405","https://openalex.org/W3207511527","https://openalex.org/W4206502499","https://openalex.org/W6729637166","https://openalex.org/W6730324073","https://openalex.org/W6758594239","https://openalex.org/W6784372880","https://openalex.org/W6802892888"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2808090143","https://openalex.org/W2527333706","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W2259778155","https://openalex.org/W2138294832"],"abstract_inverted_index":{"Road":[0],"infrastructure":[1,15],"is":[2,19,33],"one":[3],"of":[4,9,69,121,152,193],"the":[5,13,43,51,57,88,115,190],"most":[6],"vital":[7],"assets":[8],"any":[10],"country.":[11],"Keeping":[12],"road":[14,23,54],"clean":[16],"and":[17,25,39,49,56,72,83,93,108,124,138,159,162],"unpolluted":[18],"important":[20],"for":[21,53,91,142],"ensuring":[22],"safety":[24],"reducing":[26],"environmental":[27],"risk.":[28],"However,":[29],"roadside":[30,75],"litter":[31,154],"picking":[32,137],"an":[34,64,177],"extremely":[35],"laborious,":[36],"expensive,":[37],"monotonous":[38],"hazardous":[40],"task.":[41],"Automating":[42],"process":[44],"would":[45],"save":[46],"taxpayers":[47],"money":[48],"reduce":[50],"risk":[52],"users":[55],"maintenance":[58],"crew.":[59],"This":[60,113],"work":[61],"presents":[62],"LitterBot,":[63],"autonomous":[65],"robotic":[66,106],"system":[67],"capable":[68],"detecting,":[70],"localizing":[71],"classifying":[73,94],"common":[74],"litter.":[76],"We":[77,96],"use":[78],"a":[79,98,109,149,172,194],"learning-based":[80],"object":[81],"detection":[82],"segmentation":[84],"algorithm":[85],"trained":[86,175],"on":[87,148,176],"TACO":[89],"dataset":[90,179],"identifying":[92],"garbage.":[95],"develop":[97],"robust":[99],"modular":[100],"manipulation":[101],"framework":[102,196],"by":[103,189],"using":[104],"soft":[105],"grippers":[107],"real-time":[110],"visual-servoing":[111],"strategy.":[112],"enables":[114],"manipulator":[116],"to":[117],"pick":[118],"up":[119],"objects":[120,155],"variable":[122],"sizes":[123],"shapes":[125],"even":[126],"in":[127,156,183],"dynamic":[128],"environments.":[129],"The":[130],"robot":[131],"achieves":[132],"greater":[133],"than":[134],"80%":[135],"classified":[136],"binning":[139],"success":[140],"rates":[141],"all":[143],"experiments;":[144],"which":[145],"was":[146],"validated":[147],"wide":[150],"variety":[151],"test":[153,166],"static":[157],"single":[158],"cluttered":[160],"configurations":[161],"with":[163,186],"dynamically":[164],"moving":[165],"objects.":[167],"Our":[168],"results":[169],"showcase":[170],"how":[171],"deep":[173],"model":[174],"online":[178],"can":[180],"be":[181],"deployed":[182],"real-world":[184],"applications":[185],"high":[187],"accuracy":[188],"appropriate":[191],"design":[192],"control":[195],"around":[197],"it.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-12T08:28:47.272897","created_date":"2025-10-10T00:00:00"}
