{"id":"https://openalex.org/W1527306875","doi":"https://doi.org/10.1109/icar.2015.7251498","title":"End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs","display_name":"End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1527306875","doi":"https://doi.org/10.1109/icar.2015.7251498","mag":"1527306875"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-01145809","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010358571","display_name":"Alessia Vignolo","orcid":"https://orcid.org/0000-0002-9594-5159"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Alessia Vignolo","raw_affiliation_strings":["UMR, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes (IRCCyN), Nantes, France"],"affiliations":[{"raw_affiliation_string":"UMR, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes (IRCCyN), Nantes, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038795631","display_name":"S\u00e9bastien Briot","orcid":"https://orcid.org/0000-0002-0419-6042"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sebastien Briot","raw_affiliation_strings":["UMR, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes (IRCCyN), Nantes, France"],"affiliations":[{"raw_affiliation_string":"UMR, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes (IRCCyN), Nantes, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019929775","display_name":"Philippe Martinet","orcid":"https://orcid.org/0000-0001-5827-0431"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Martinet","raw_affiliation_strings":["Ecole Centrale de Nantes, Nantes, France","UMR, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes (IRCCyN), Nantes, France"],"affiliations":[{"raw_affiliation_string":"Ecole Centrale de Nantes, Nantes, France","institution_ids":["https://openalex.org/I100445878"]},{"raw_affiliation_string":"UMR, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes (IRCCyN), Nantes, France","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100408351","display_name":"Chao Chen","orcid":"https://orcid.org/0000-0002-4353-3283"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chao Chen","raw_affiliation_strings":["Monash University, Clayton, Australia"],"affiliations":[{"raw_affiliation_string":"Monash University, Clayton, Australia","institution_ids":["https://openalex.org/I56590836"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010358571"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02709094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"471","last_page":"477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.893669605255127},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.7588276863098145},{"id":"https://openalex.org/keywords/effector","display_name":"Effector","score":0.692224383354187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6519999504089355},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5831850171089172},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.5374138355255127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5366859436035156},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.5352023243904114},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49878430366516113},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3723759353160858},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3581533432006836},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35120654106140137},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1976335644721985},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12477421760559082},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09156879782676697},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07197582721710205}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.893669605255127},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7588276863098145},{"id":"https://openalex.org/C51785407","wikidata":"https://www.wikidata.org/wiki/Q2627568","display_name":"Effector","level":2,"score":0.692224383354187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6519999504089355},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5831850171089172},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.5374138355255127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5366859436035156},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.5352023243904114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49878430366516113},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3723759353160858},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3581533432006836},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35120654106140137},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1976335644721985},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12477421760559082},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09156879782676697},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07197582721710205},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar.2015.7251498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251498","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01145809v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01145809","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2015 International Conference on Advanced Robotics (ICAR 2015), Jul 2015, Istanbul, Turkey","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01145809v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01145809","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"2015 International Conference on Advanced Robotics (ICAR 2015), Jul 2015, Istanbul, Turkey","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W32757393","https://openalex.org/W136347695","https://openalex.org/W289820477","https://openalex.org/W2038980909","https://openalex.org/W2040669861","https://openalex.org/W2053411639","https://openalex.org/W2079435387","https://openalex.org/W2107009938","https://openalex.org/W2132575968","https://openalex.org/W2146922385","https://openalex.org/W2157162351","https://openalex.org/W2161505441","https://openalex.org/W3082997505","https://openalex.org/W3170994865","https://openalex.org/W4248304976","https://openalex.org/W4254005064","https://openalex.org/W6605495176","https://openalex.org/W6782367111","https://openalex.org/W6796878037"],"related_works":["https://openalex.org/W4320492283","https://openalex.org/W1530034981","https://openalex.org/W4214695225","https://openalex.org/W1527306875","https://openalex.org/W2521347145","https://openalex.org/W2685925846","https://openalex.org/W2483758673","https://openalex.org/W2914036059","https://openalex.org/W2763511715","https://openalex.org/W2294886887"],"abstract_inverted_index":{"Past":[0],"research":[1],"works":[2],"have":[3],"shown":[4],"that":[5],"it":[6,22,57,117],"was":[7,23],"possible":[8,36,119],"to":[9,25,120,141],"evaluate":[10],"the":[11,28,39,47,53,69,72,75,94,106,109,114,122,130,142],"end-effector":[12,48,64,110,131,135],"pose":[13,65,136],"of":[14,20,41,63,71,74,108,125],"parallel":[15,90],"robots":[16],"by":[17,52,112],"vision.":[18],"First":[19],"all,":[21],"proposed":[24,60],"directly":[26],"observed":[27],"end-effector.":[29],"However,":[30],"this":[31,82],"observation":[32,70],"may":[33,49],"be":[34,50],"not":[35,85],"(e.g.":[37,93],"in":[38],"case":[40],"a":[42,102,149],"haptic":[43],"device":[44],"for":[45,87,105],"which":[46],"hidden":[51],"user":[54],"hand).":[55],"Therefore,":[56],"has":[58],"been":[59],"another":[61],"type":[62],"estimation":[66,107,137],"based":[67],"on":[68,148],"directions":[73],"legs.":[76],"Even":[77],"interesting":[78],"results":[79,145],"were":[80],"obtained,":[81],"method":[83,138],"is":[84,118,139],"suitable":[86],"some":[88],"particular":[89],"robot":[91],"families":[92],"Monash":[95],"Epicyclic-Parallel":[96],"Manipulator,":[97],"MEPaM).":[98],"This":[99],"paper":[100],"proposes":[101],"new":[103,134],"approach":[104],"pose:":[111],"observing":[113],"mechanism":[115],"legs,":[116],"extract":[121],"Pl\u00fccker":[123],"coordinates":[124],"their":[126],"lines":[127],"and":[128,155],"determine":[129],"pose.":[132],"The":[133],"applied":[140],"MEPaM.":[143],"All":[144],"are":[146],"validated":[147],"MEPaM":[150],"simulator":[151],"created":[152],"using":[153],"ADAMS/Controls":[154],"interfaced":[156],"with":[157],"Matlab/Simulink.":[158]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
