{"id":"https://openalex.org/W2034243146","doi":"https://doi.org/10.1109/fuzz-ieee.2014.6891708","title":"Visual servo control of the hexapod robot with obstacle avoidance","display_name":"Visual servo control of the hexapod robot with obstacle avoidance","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W2034243146","doi":"https://doi.org/10.1109/fuzz-ieee.2014.6891708","mag":"2034243146"},"language":"en","primary_location":{"id":"doi:10.1109/fuzz-ieee.2014.6891708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fuzz-ieee.2014.6891708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)","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/A5021767539","display_name":"Wen\u2010Shyong Yu","orcid":"https://orcid.org/0000-0001-5559-270X"},"institutions":[{"id":"https://openalex.org/I65196183","display_name":"Tatung University","ror":"https://ror.org/030m18266","country_code":"TW","type":"education","lineage":["https://openalex.org/I65196183"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Wen-Shyong Yu","raw_affiliation_strings":["Department of Electrical Engineering, Tatung University, Taipei, Taiwan, Taiwan","Department of Electrical Engineering, Tatung University, 40 Chung\u2010Shan North Rd., 3rd Sec., Taipei, Taiwan 10451, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tatung University, Taipei, Taiwan, Taiwan","institution_ids":["https://openalex.org/I65196183"]},{"raw_affiliation_string":"Department of Electrical Engineering, Tatung University, 40 Chung\u2010Shan North Rd., 3rd Sec., Taipei, Taiwan 10451, Taiwan","institution_ids":["https://openalex.org/I65196183"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109146213","display_name":"Chiau-Wei Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I65196183","display_name":"Tatung University","ror":"https://ror.org/030m18266","country_code":"TW","type":"education","lineage":["https://openalex.org/I65196183"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chiau-Wei Huang","raw_affiliation_strings":["Department of Electrical Engineering, Tatung University, Taipei, Taiwan, Taiwan","Department of Electrical Engineering, Tatung University, 40 Chung\u2010Shan North Rd., 3rd Sec., Taipei, Taiwan 10451, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tatung University, Taipei, Taiwan, Taiwan","institution_ids":["https://openalex.org/I65196183"]},{"raw_affiliation_string":"Department of Electrical Engineering, Tatung University, 40 Chung\u2010Shan North Rd., 3rd Sec., Taipei, Taiwan 10451, Taiwan","institution_ids":["https://openalex.org/I65196183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5021767539"],"corresponding_institution_ids":["https://openalex.org/I65196183"],"apc_list":null,"apc_paid":null,"fwci":0.2439,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58161515,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"713","last_page":"720"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/hexapod","display_name":"Hexapod","score":0.8710650205612183},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7514654397964478},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6890990734100342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6659451723098755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6254007816314697},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.57080078125},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5365851521492004},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47012484073638916},{"id":"https://openalex.org/keywords/visual-control","display_name":"Visual control","score":0.43985119462013245},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4389030933380127},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4353313148021698},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39946407079696655},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08922457695007324}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8710650205612183},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7514654397964478},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6890990734100342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6659451723098755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6254007816314697},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.57080078125},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5365851521492004},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47012484073638916},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.43985119462013245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4389030933380127},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4353313148021698},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39946407079696655},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08922457695007324}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/fuzz-ieee.2014.6891708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fuzz-ieee.2014.6891708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"},{"id":"https://openalex.org/F4320322593","display_name":"Tatung University","ror":"https://ror.org/030m18266"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1999052969","https://openalex.org/W2041814126","https://openalex.org/W2100242026","https://openalex.org/W2123151876","https://openalex.org/W2123492997","https://openalex.org/W2167501464","https://openalex.org/W4237200682"],"related_works":["https://openalex.org/W3131439977","https://openalex.org/W2511898677","https://openalex.org/W2357222218","https://openalex.org/W2356307692","https://openalex.org/W2377309367","https://openalex.org/W3087840283","https://openalex.org/W2378252143","https://openalex.org/W2371387152","https://openalex.org/W2380957290","https://openalex.org/W2347212638"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,34,47,93,99],"to":[3,36,101,117,128,131,176],"design":[4],"a":[5,10,52,115,168],"visual":[6,31,62],"servo":[7,63,119],"control":[8,21,45,64,120,183],"for":[9,22,69,167],"hexapod":[11,24,169],"robot":[12,25,82,170],"with":[13,41,161,171],"obstacle":[14,42,73,80,172],"avoidance.":[15,43,74],"The":[16,44],"implementation":[17],"of":[18,49,59,87,90,146,180],"the":[19,23,27,38,57,76,79,85,88,91,96,109,118,132,147,156,178,181],"motion":[20,67],"using":[26,149],"inverse":[28],"kinematics":[29],"and":[30,66,72,81,111,134,140,142,153,158],"recognition":[32],"system":[33],"used":[35,100,175],"achieve":[37],"trajectory":[39,70],"tracking":[40,71],"structure":[46],"composed":[48],"three":[50],"parts:":[51],"tilt":[53],"camera":[54],"based":[55,83],"on":[56,84],"concepts":[58],"mechanical":[60],"geometry,":[61],"systems,":[65],"dynamics":[68],"First,":[75],"depth":[77],"between":[78],"proportion":[86],"size":[89],"area":[92,157],"constructed.":[94],"Then,":[95],"image":[97,123],"processing":[98],"identify":[102],"whether":[103],"there":[104],"are":[105,174],"any":[106],"obstacles":[107],"in":[108],"front,":[110],"make":[112],"it":[113],"as":[114],"feedback":[116],"system.":[121],"For":[122],"recognition,":[124],"we":[125],"use":[126],"OpenCV":[127],"process":[129],"environment":[130],"grayscale":[133],"binarization,":[135],"filter":[136],"noise":[137],"through":[138],"erosion":[139],"dilation,":[141],"then":[143],"fill":[144],"all":[145],"contours":[148],"Sobel":[150],"edge":[151],"detection,":[152],"finally":[154],"calculate":[155],"compare":[159],"that":[160],"each":[162],"other.":[163],"Finally,":[164],"some":[165],"experiments":[166],"avoidance":[173],"validate":[177],"performance":[179],"proposed":[182],"scheme.":[184]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
