{"id":"https://openalex.org/W2163451891","doi":"https://doi.org/10.1109/icra.2012.6225175","title":"Simple and robust visual servo control of robot arms using an on-line trajectory generator","display_name":"Simple and robust visual servo control of robot arms using an on-line trajectory generator","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2163451891","doi":"https://doi.org/10.1109/icra.2012.6225175","mag":"2163451891"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018921223","display_name":"Torsten Kr\u00f6ger","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Torsten Kroger","raw_affiliation_strings":["Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083183763","display_name":"Jose Padial","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jose Padial","raw_affiliation_strings":["Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratory, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4862","last_page":"4869"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9950000047683716,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9945999979972839,"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/visual-servoing","display_name":"Visual servoing","score":0.6431108713150024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6332849264144897},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6315436959266663},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5869927406311035},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5790854692459106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5647305846214294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5325497388839722},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5052323937416077},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4991455078125},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48101502656936646},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.4366670846939087},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.428529292345047},{"id":"https://openalex.org/keywords/motion-field","display_name":"Motion field","score":0.425035297870636},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.4204273819923401},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4154247045516968},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.40995097160339355},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.3312217593193054},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32594093680381775},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17482054233551025},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.12107774615287781},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.072268545627594}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6431108713150024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6332849264144897},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6315436959266663},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5869927406311035},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5790854692459106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5647305846214294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5325497388839722},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5052323937416077},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4991455078125},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48101502656936646},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.4366670846939087},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.428529292345047},{"id":"https://openalex.org/C124774092","wikidata":"https://www.wikidata.org/wiki/Q6917782","display_name":"Motion field","level":3,"score":0.425035297870636},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4204273819923401},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4154247045516968},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.40995097160339355},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.3312217593193054},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32594093680381775},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17482054233551025},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.12107774615287781},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.072268545627594},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6225175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225175","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W135568524","https://openalex.org/W297039922","https://openalex.org/W618254468","https://openalex.org/W629651499","https://openalex.org/W1508960934","https://openalex.org/W1965958765","https://openalex.org/W1981518010","https://openalex.org/W1994732751","https://openalex.org/W2034767184","https://openalex.org/W2038662471","https://openalex.org/W2082991751","https://openalex.org/W2098992109","https://openalex.org/W2099512252","https://openalex.org/W2099915711","https://openalex.org/W2103153410","https://openalex.org/W2110307800","https://openalex.org/W2111691855","https://openalex.org/W2112474089","https://openalex.org/W2117571644","https://openalex.org/W2119224729","https://openalex.org/W2125627762","https://openalex.org/W2131232094","https://openalex.org/W2141627350","https://openalex.org/W2142964003","https://openalex.org/W2147052742","https://openalex.org/W2167532125","https://openalex.org/W2171151351","https://openalex.org/W2552885458","https://openalex.org/W2596235722","https://openalex.org/W3157685993","https://openalex.org/W4238990946","https://openalex.org/W4252838624","https://openalex.org/W6675251542","https://openalex.org/W6681611226"],"related_works":["https://openalex.org/W2326117494","https://openalex.org/W2152526946","https://openalex.org/W3164231332","https://openalex.org/W2914367388","https://openalex.org/W2137020204","https://openalex.org/W2101588601","https://openalex.org/W1982148096","https://openalex.org/W2331674254","https://openalex.org/W1971180730","https://openalex.org/W2163451891"],"abstract_inverted_index":{"Common":[0],"visual":[1,25],"servoing":[2],"methods":[3],"use":[4],"image":[5,40,90,109,146],"features":[6],"to":[7,137,159],"define":[8],"a":[9,23,153],"signal":[10],"error":[11],"in":[12],"the":[13,130,161,164],"feedback":[14],"loops":[15],"of":[16,53,63,95,108,166],"robot":[17,44,155,169],"motion":[18,45,48,64,114,170],"controllers.":[19,46],"This":[20,75],"paper":[21],"suggests":[22],"new":[24,97],"servo":[26,67],"control":[27,68],"scheme":[28],"that":[29,85],"uses":[30],"an":[31,36,55,59,89],"on-line":[32],"trajectory":[33,57],"generator":[34],"as":[35,116,118],"intermediate":[37],"layer":[38],"between":[39],"processing":[41,91,110,147],"algorithms":[42],"and":[43,82,102,128,134],"The":[47,93],"generation":[49],"algorithm":[50,76],"is":[51,77],"capable":[52],"computing":[54],"entire":[56],"from":[58],"arbitrary":[60],"initial":[61],"state":[62],"within":[65],"one":[66,71],"cycle":[69],"(typically":[70],"millisecond":[72],"or":[73,145],"less).":[74],"fed":[78],"with":[79],"desired":[80],"pose":[81],"velocity":[83],"signals":[84],"are":[86,105,143,157],"generated":[87],"by":[88],"algorithm.":[92],"advantages":[94],"this":[96],"architecture":[98],"are:":[99],"(a)":[100],"jerk-limited":[101],"continuous":[103],"motions":[104],"guaranteed":[106],"independently":[107],"signals,":[111],"(b)":[112],"kinematic":[113],"constraints":[115],"well":[117],"physical":[119],"and/or":[120],"artificial":[121],"workspace":[122],"limits":[123],"can":[124,132],"be":[125],"directly":[126],"considered,":[127],"(c)":[129],"system":[131],"instantaneously":[133],"safely":[135],"react":[136],"sensor":[138],"failures":[139],"(e.g.,":[140],"if":[141],"cameras":[142],"covered":[144],"fails).":[148],"Real-world":[149],"experimental":[150],"results":[151],"using":[152],"seven-joint":[154],"arm":[156],"presented":[158],"underline":[160],"relevance":[162],"for":[163],"field":[165],"robust":[167],"sensor-guided":[168],"control.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":10}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}