{"id":"https://openalex.org/W3209999825","doi":"https://doi.org/10.1109/case49997.2022.9926723","title":"Deep Direct Visual Servoing of Tendon-Driven Continuum Robots","display_name":"Deep Direct Visual Servoing of Tendon-Driven Continuum Robots","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W3209999825","doi":"https://doi.org/10.1109/case49997.2022.9926723","mag":"3209999825"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926723","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th 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/A5064954845","display_name":"Ibrahim Abdulhafiz","orcid":"https://orcid.org/0000-0003-2322-486X"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ibrahim Abdulhafiz","raw_affiliation_strings":["Toronto Metropolitan University (Formerly Ryerson University),Department of Electrical, Computer, and Biomedical Engineering,Toronto,Canada,ON M5B 2K3"],"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University (Formerly Ryerson University),Department of Electrical, Computer, and Biomedical Engineering,Toronto,Canada,ON M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067230604","display_name":"Ali Nazari","orcid":"https://orcid.org/0000-0001-6087-4971"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ali A. Nazari","raw_affiliation_strings":["Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3"],"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027017554","display_name":"Taha Abbasi\u2010Hashemi","orcid":"https://orcid.org/0000-0002-6050-4492"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Taha Abbasi-Hashemi","raw_affiliation_strings":["Toronto Metropolitan University (Formerly Ryerson University),Department of Electrical, Computer, and Biomedical Engineering,Toronto,Canada,ON M5B 2K3"],"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University (Formerly Ryerson University),Department of Electrical, Computer, and Biomedical Engineering,Toronto,Canada,ON M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070692338","display_name":"Amir Jalali","orcid":"https://orcid.org/0000-0002-8439-5219"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Amir Jalali","raw_affiliation_strings":["Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3"],"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052606505","display_name":"Kourosh Zareinia","orcid":"https://orcid.org/0000-0002-0603-9200"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kourosh Zareinia","raw_affiliation_strings":["Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3"],"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047941621","display_name":"Sajad Saeedi","orcid":"https://orcid.org/0000-0002-6385-6127"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Sajad Saeedi","raw_affiliation_strings":["Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3"],"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025228155","display_name":"Farrokh Janabi\u2010Sharifi","orcid":"https://orcid.org/0000-0002-0314-0688"},"institutions":[{"id":"https://openalex.org/I530967","display_name":"Toronto Metropolitan University","ror":"https://ror.org/05g13zd79","country_code":"CA","type":"education","lineage":["https://openalex.org/I530967"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Farrokh Janabi-Sharifi","raw_affiliation_strings":["Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3"],"affiliations":[{"raw_affiliation_string":"Toronto Metropolitan University (Formerly Ryerson University),Department of Mechanical and Industrial Engineering,Toronto,Canada,ON M5B 2K3","institution_ids":["https://openalex.org/I530967"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5064954845"],"corresponding_institution_ids":["https://openalex.org/I530967"],"apc_list":null,"apc_paid":null,"fwci":1.6076,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81724138,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1977","last_page":"1984"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983999729156494,"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/visual-servoing","display_name":"Visual servoing","score":0.9480431079864502},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6688808798789978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5687278509140015},{"id":"https://openalex.org/keywords/tendon","display_name":"Tendon","score":0.5288478136062622},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5147392749786377},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4692494869232178},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.14567086100578308},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.1395394206047058}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9480431079864502},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6688808798789978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5687278509140015},{"id":"https://openalex.org/C2780105995","wikidata":"https://www.wikidata.org/wiki/Q232358","display_name":"Tendon","level":2,"score":0.5288478136062622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5147392749786377},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4692494869232178},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.14567086100578308},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.1395394206047058}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926723","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1686810756","https://openalex.org/W1972716133","https://openalex.org/W1988003703","https://openalex.org/W2008260944","https://openalex.org/W2095462685","https://openalex.org/W2101057928","https://openalex.org/W2114347750","https://openalex.org/W2134555091","https://openalex.org/W2147492425","https://openalex.org/W2167501464","https://openalex.org/W2184993170","https://openalex.org/W2200124539","https://openalex.org/W2202999923","https://openalex.org/W2462654948","https://openalex.org/W2525973954","https://openalex.org/W2620115845","https://openalex.org/W2767896580","https://openalex.org/W2782435507","https://openalex.org/W2788822937","https://openalex.org/W2793251497","https://openalex.org/W2912809831","https://openalex.org/W2942096073","https://openalex.org/W2946872323","https://openalex.org/W2961504798","https://openalex.org/W2987061965","https://openalex.org/W3037426978","https://openalex.org/W3047797506","https://openalex.org/W3127964809","https://openalex.org/W3134209685","https://openalex.org/W3157533866","https://openalex.org/W3171969922","https://openalex.org/W4214569027","https://openalex.org/W6637373629","https://openalex.org/W6738940082","https://openalex.org/W6762863022"],"related_works":["https://openalex.org/W2107326529","https://openalex.org/W4293869118","https://openalex.org/W2118183560","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674"],"abstract_inverted_index":{"Vision-based":[0],"control":[1,59,74],"provides":[2],"a":[3,61,76,82,116],"significant":[4],"potential":[5],"for":[6],"the":[7,33,51,73,110,124,133,138],"end-point":[8],"positioning":[9],"of":[10,60,75,109,123,137],"continuum":[11,62,79],"robots":[12],"under":[13],"physical":[14],"sensing":[15],"limitations.":[16],"Traditional":[17],"visual":[18,46,92],"servoing":[19,47,93],"requires":[20],"feature":[21],"extraction":[22],"and":[23,43,88,112,121,129,135],"tracking":[24],"followed":[25],"by":[26,53],"full":[27],"or":[28],"partial":[29],"pose":[30],"estimation,":[31],"limiting":[32],"controller\u2019s":[34],"efficiency.":[35],"We":[36],"hypothesize":[37],"that":[38],"employing":[39],"deep":[40,85],"learning":[41,86],"models":[42],"implementing":[44],"direct":[45,91],"can":[48],"effectively":[49],"resolve":[50],"issue":[52],"eliminating":[54],"such":[55],"intermediate":[56],"steps,":[57],"enabling":[58],"robot":[63,80],"without":[64],"requiring":[65],"an":[66,89],"exact":[67],"system":[68],"model.":[69],"This":[70],"paper":[71],"presents":[72],"single-section":[77],"tendon-driven":[78],"using":[81,104],"modified":[83],"VGG-16":[84],"network":[87],"eye-in-hand":[90],"approach.":[94],"The":[95,119],"proposed":[96,139],"algorithm":[97],"is":[98],"first":[99],"developed":[100],"in":[101,126],"Blender":[102],"software":[103],"only":[105],"one":[106],"input":[107],"image":[108],"target":[111],"then":[113],"implemented":[114],"on":[115],"real":[117],"robot.":[118],"convergence":[120],"accuracy":[122],"results":[125],"normal,":[127],"shadowed,":[128],"occluded":[130],"scenes":[131],"demonstrate":[132],"effectiveness":[134],"robustness":[136],"controller.":[140]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}
