{"id":"https://openalex.org/W4390480918","doi":"https://doi.org/10.1109/humanoids57100.2023.10375172","title":"Visual servoing for dual arm shaping of soft objects in 3D","display_name":"Visual servoing for dual arm shaping of soft objects in 3D","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390480918","doi":"https://doi.org/10.1109/humanoids57100.2023.10375172"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04371353v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093630712","display_name":"C\u00e9lia Saghour","orcid":"https://orcid.org/0000-0003-1576-5180"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"C\u00e9lia Saghour","raw_affiliation_strings":["LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)"],"affiliations":[{"raw_affiliation_string":"LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093630713","display_name":"Mathieu C\u00e9l\u00e9rier","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mathieu C\u00e9l\u00e9rier","raw_affiliation_strings":["LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)"],"affiliations":[{"raw_affiliation_string":"LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)"],"affiliations":[{"raw_affiliation_string":"LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022568011","display_name":"Andrea Cherubini","orcid":"https://orcid.org/0000-0002-7272-6922"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Cherubini","raw_affiliation_strings":["LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)"],"affiliations":[{"raw_affiliation_string":"LIRMM, Universit&#x00E9; de Montpellier, CNRS Montpellier,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM | IDH - Interactive Digital Humans (LIRMM, 161 rue Ada, 34000 Montpellier - France)","institution_ids":["https://openalex.org/I4210101743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5093630712"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":0.1228,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45879771,"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":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"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":0.9997000098228455,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9955000281333923,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9929999709129333,"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/visual-servoing","display_name":"Visual servoing","score":0.816138505935669},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7375980615615845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7308858633041382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6916297674179077},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6721495389938354},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5451239347457886},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5209704041481018},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5006868839263916},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4492295980453491},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44221609830856323},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.427859365940094},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42679187655448914},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.42350390553474426},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.4214513897895813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40120774507522583},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11908072233200073}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.816138505935669},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7375980615615845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7308858633041382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6916297674179077},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6721495389938354},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5451239347457886},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5209704041481018},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5006868839263916},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4492295980453491},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44221609830856323},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.427859365940094},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42679187655448914},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.42350390553474426},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.4214513897895813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40120774507522583},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11908072233200073},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04371353v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04371353","pdf_url":"https://hal.science/hal-04371353v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Humanoids 2023 - 22nd IEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin, TX, United States. pp.1-7, &#x27E8;10.1109/humanoids57100.2023.10375172&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04371353v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04371353","pdf_url":"https://hal.science/hal-04371353v1/document","source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Humanoids 2023 - 22nd IEEE-RAS International Conference on Humanoid Robots, Dec 2023, Austin, TX, United States. pp.1-7, &#x27E8;10.1109/humanoids57100.2023.10375172&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390480918.pdf","grobid_xml":"https://content.openalex.org/works/W4390480918.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1985382409","https://openalex.org/W1986247620","https://openalex.org/W2062674159","https://openalex.org/W2086493383","https://openalex.org/W2112790098","https://openalex.org/W2124904960","https://openalex.org/W2150254119","https://openalex.org/W2346178339","https://openalex.org/W2536385848","https://openalex.org/W2805530149","https://openalex.org/W2889873161","https://openalex.org/W2900582619","https://openalex.org/W2924113821","https://openalex.org/W2940581269","https://openalex.org/W2963265239","https://openalex.org/W2981316255","https://openalex.org/W2999786727","https://openalex.org/W3003232400","https://openalex.org/W3039664495","https://openalex.org/W3040477237","https://openalex.org/W3040547430","https://openalex.org/W3106231110","https://openalex.org/W3119874910","https://openalex.org/W3170278846","https://openalex.org/W6760721115","https://openalex.org/W6786112060"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W3204184292","https://openalex.org/W4317830657","https://openalex.org/W2658949566","https://openalex.org/W2186268827","https://openalex.org/W2082631666"],"abstract_inverted_index":{"We":[0,37],"propose":[1],"a":[2,19,43,77,86,139,144],"real-time":[3],"vision-based":[4],"dual":[5],"arm":[6],"controller":[7,16],"for":[8,81,114],"manipulating":[9],"soft":[10],"objects":[11,147],"in":[12,52,65,72,154],"three":[13],"dimensions.":[14],"Our":[15],"relies":[17],"on":[18,90,143],"data-based":[20],"approach":[21],"to":[22,58,109],"learn":[23],"how":[24],"the":[25,33,39,66,73,91,96,106,110,115,122,124,129,133,149,152],"object":[26,63,70],"deforms,":[27],"without":[28],"any":[29],"prior":[30],"knowledge":[31],"of":[32,95,121,151],"shape":[34],"nor":[35],"material.":[36],"control":[38,112],"two":[40],"arms":[41],"with":[42,85,128],"cooperative":[44,116],"task":[45],"representation,":[46],"which":[47],"makes":[48],"them":[49],"move":[50],"together":[51],"an":[53,100],"absolute":[54,74],"frame":[55,68],"and/or":[56,69],"relatively":[57],"one":[59],"another.":[60],"This":[61,103],"allows":[62],"deformation":[64],"relative":[67],"motion":[71],"frame.":[75],"Through":[76],"short":[78],"initialization":[79],"phase":[80],"extracting":[82],"visual":[83,107],"features":[84,108],"Principal":[87],"Component":[88],"Analysis":[89],"3D":[92],"contour":[93],"points":[94],"object,":[97],"we":[98],"estimate":[99],"interaction":[101,134],"matrix.":[102],"matrix":[104,135],"relates":[105],"robot":[111],"inputs":[113],"task.":[117],"At":[118],"each":[119],"step":[120],"deformation,":[123],"process":[125],"is":[126,136],"reiterated":[127],"last":[130],"data":[131],"and":[132],"updated":[137],"along":[138],"sliding":[140],"window.":[141],"Experiments":[142],"few":[145],"different":[146],"show":[148],"performance":[150],"method":[153],"real-time.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
