{"id":"https://openalex.org/W2739254968","doi":"https://doi.org/10.1109/icra.2017.7989626","title":"Extended tau theory for robot motion control","display_name":"Extended tau theory for robot motion control","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2739254968","doi":"https://doi.org/10.1109/icra.2017.7989626","mag":"2739254968"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5101565424","display_name":"Haijie Zhang","orcid":"https://orcid.org/0000-0002-3990-9225"},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haijie Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034637661","display_name":"Bo Cheng","orcid":"https://orcid.org/0000-0002-6982-0811"},"institutions":[{"id":"https://openalex.org/I130769515","display_name":"Pennsylvania State University","ror":"https://ror.org/04p491231","country_code":"US","type":"education","lineage":["https://openalex.org/I130769515"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bo Cheng","raw_affiliation_strings":["Department of Mechanical and Nuclear Engineering, Pennsylvania State University, University Park, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Nuclear Engineering, Pennsylvania State University, University Park, PA, USA","institution_ids":["https://openalex.org/I130769515"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009525568","display_name":"Jianguo Zhao","orcid":"https://orcid.org/0000-0003-0305-2597"},"institutions":[{"id":"https://openalex.org/I92446798","display_name":"Colorado State University","ror":"https://ror.org/03k1gpj17","country_code":"US","type":"education","lineage":["https://openalex.org/I92446798"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianguo Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Colorado State University, Fort Collins, CO, USA","institution_ids":["https://openalex.org/I92446798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3795,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.5915547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"5","issue":null,"first_page":"5321","last_page":"5326"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9950000047683716,"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/T10581","display_name":"Neural dynamics and brain function","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6876347064971924},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6111711859703064},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5945255160331726},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5701644420623779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5600757002830505},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5283392667770386},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5256313681602478},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5066528916358948},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4964669346809387},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.46231943368911743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4307461380958557},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4211430549621582},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33237072825431824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2781342566013336},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22963643074035645},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16243800520896912},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0861717164516449}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6876347064971924},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6111711859703064},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5945255160331726},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5701644420623779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5600757002830505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5283392667770386},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5256313681602478},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5066528916358948},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4964669346809387},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.46231943368911743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4307461380958557},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4211430549621582},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33237072825431824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2781342566013336},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22963643074035645},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16243800520896912},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0861717164516449},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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":27,"referenced_works":["https://openalex.org/W637620512","https://openalex.org/W1506990310","https://openalex.org/W1971416769","https://openalex.org/W1979471244","https://openalex.org/W1982804863","https://openalex.org/W1997977770","https://openalex.org/W2007016603","https://openalex.org/W2016151598","https://openalex.org/W2028543208","https://openalex.org/W2048873265","https://openalex.org/W2054145244","https://openalex.org/W2057577805","https://openalex.org/W2078436852","https://openalex.org/W2106998374","https://openalex.org/W2119513601","https://openalex.org/W2131071980","https://openalex.org/W2136807272","https://openalex.org/W2146115080","https://openalex.org/W2151632846","https://openalex.org/W2157777247","https://openalex.org/W2164198722","https://openalex.org/W2227681686","https://openalex.org/W2314048155","https://openalex.org/W2525275048","https://openalex.org/W2563116475","https://openalex.org/W4231766918","https://openalex.org/W6680041947"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2101105382","https://openalex.org/W2979398413","https://openalex.org/W1532677580","https://openalex.org/W2386719143"],"abstract_inverted_index":{"Biologists":[0],"proposed":[1,143],"the":[2,33,41,74,102,116,131,140,156,174,197],"tau":[3,47,68,103],"theory":[4,23,48,69,104],"to":[5,36,52,91,114,128,154,195],"explain":[6],"how":[7],"animals":[8],"control":[9,53,196],"their":[10],"motion":[11,55,132,198],"using":[12,181],"visual":[13,205],"feedback":[14],"for":[15,56,73,119,202],"different":[16],"tasks":[17,58,81],"including":[18],"landing":[19],"and":[20,145,161],"perching.":[21],"Tau":[22],"is":[24,32,44],"based":[25],"on":[26,164],"a":[27,87,107,124,151,165],"concept":[28],"called":[29],"time-to-contact,":[30],"which":[31],"required":[34],"time":[35],"contact":[37,78,89,176],"an":[38],"object":[39],"if":[40],"current":[42],"velocity":[43,90,177],"maintained.":[45],"Recently,":[46],"has":[49],"been":[50],"applied":[51,194],"robots'":[54],"similar":[57],"such":[59,82],"as":[60,83],"perching,":[61],"docking,":[62],"braking,":[63],"or":[64],"landing.":[65],"However,":[66],"existing":[67],"can":[70,178,191],"only":[71],"work":[72],"case":[75],"with":[76,130,204],"zero":[77],"velocity.":[79],"Some":[80],"perching":[84,203],"actually":[85],"require":[86],"non-zero":[88,175],"make":[92],"gripping":[93],"mechanisms":[94],"work.":[95],"To":[96],"address":[97],"this":[98,189],"problem,":[99],"we":[100,122,149],"extend":[101],"by":[105],"proposing":[106],"two-stage":[108,144],"strategy":[109,127],"in":[110,133,188],"one":[111],"dimensional":[112,135],"space":[113],"generate":[115],"reference":[117],"trajectory":[118],"time-to-contact.":[120],"Moreover,":[121,148],"propose":[123],"new":[125],"coupling":[126,146],"deal":[129],"three":[134],"space.":[136],"Simulation":[137],"results":[138,170],"demonstrate":[139,172],"effectiveness":[141],"of":[142,199],"strategies.":[147],"leverage":[150],"featureless":[152],"method":[153],"estimate":[155],"time-to-contact":[157],"from":[158],"image":[159],"sequences":[160],"implement":[162],"it":[163],"mobile":[166],"robot":[167],"platform.":[168],"Experimental":[169],"also":[171],"that":[173],"be":[179,192],"accomplished":[180],"onboard":[182],"vision":[183],"feedback.":[184,206],"The":[185],"research":[186],"presented":[187],"paper":[190],"readily":[193],"flying":[200],"robots":[201]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}