{"id":"https://openalex.org/W2967946388","doi":"https://doi.org/10.1109/icra.2019.8793861","title":"Model-Based Estimation of the Gravity-Loaded Shape and Scene Depth for a Slim 3-Actuator Continuum Robot with Monocular Visual Feedback","display_name":"Model-Based Estimation of the Gravity-Loaded Shape and Scene Depth for a Slim 3-Actuator Continuum Robot with Monocular Visual Feedback","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2967946388","doi":"https://doi.org/10.1109/icra.2019.8793861","mag":"2967946388"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5100687556","display_name":"Yuyang Chen","orcid":"https://orcid.org/0000-0002-5606-050X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuyang Chen","raw_affiliation_strings":["RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101960193","display_name":"Zhang Shuan","orcid":"https://orcid.org/0000-0003-0618-5168"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shu'an Zhang","raw_affiliation_strings":["RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"RII Lab (Lab of Robotics Innovation and Intervention), UM-SJTU Joint Institute, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089329497","display_name":"Lingyun Zeng","orcid":"https://orcid.org/0000-0001-7120-9002"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyun Zeng","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078125284","display_name":"Xiangyang Zhu","orcid":"https://orcid.org/0000-0003-4914-6636"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Zhu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031386469","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0003-1690-3370"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100687556"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.489,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.62168912,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4416","last_page":"4421"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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":0.9761000275611877,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9631999731063843,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/monocular","display_name":"Monocular","score":0.6855849027633667},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6582600474357605},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6521377563476562},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5798198580741882},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5271774530410767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5118491053581238},{"id":"https://openalex.org/keywords/visual-feedback","display_name":"Visual feedback","score":0.49113985896110535},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3569495677947998}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6855849027633667},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6582600474357605},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6521377563476562},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5798198580741882},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5271774530410767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5118491053581238},{"id":"https://openalex.org/C3020716817","wikidata":"https://www.wikidata.org/wiki/Q4132092","display_name":"Visual feedback","level":2,"score":0.49113985896110535},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3569495677947998}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793861","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1970557511","https://openalex.org/W1988003703","https://openalex.org/W2001803686","https://openalex.org/W2053614949","https://openalex.org/W2065984611","https://openalex.org/W2095462685","https://openalex.org/W2095614026","https://openalex.org/W2099544223","https://openalex.org/W2101667962","https://openalex.org/W2121744551","https://openalex.org/W2131150943","https://openalex.org/W2137670317","https://openalex.org/W2197902643","https://openalex.org/W2544641369","https://openalex.org/W2561565237","https://openalex.org/W2745007981","https://openalex.org/W2770049904","https://openalex.org/W6687745374"],"related_works":["https://openalex.org/W3006563365","https://openalex.org/W2113039159","https://openalex.org/W2094957557","https://openalex.org/W127013308","https://openalex.org/W4224011692","https://openalex.org/W4225827157","https://openalex.org/W1628937209","https://openalex.org/W4321512589","https://openalex.org/W1881882553","https://openalex.org/W2971051170"],"abstract_inverted_index":{"Fruitful":[0],"developments":[1],"on":[2],"continuum":[3,27,69,119],"robots":[4],"have":[5],"been":[6],"witnessed":[7],"in":[8,18,53,167,197],"recent":[9],"years":[10],"due":[11],"to":[12,22,123,150,175,182],"their":[13],"movements":[14],"and":[15,56,78,156],"manipulation":[16],"capabilities":[17],"confined":[19],"spaces.":[20],"Due":[21],"the":[23,40,48,65,79,82,89,108,131,135,153,157,161,169,173,184,187,193,198],"nature":[24],"that":[25,47,92],"a":[26,68,94,100,116,138],"robot":[28,49,70,120,174],"has":[29],"an":[30,113],"infinite":[31],"number":[32,102],"of":[33,36,39,67,103,111,172,186],"DoFs":[34],"(Degrees":[35],"Freedom),":[37],"majority":[38],"existing":[41],"systems":[42],"deployed":[43],"abundant":[44],"actuators":[45],"such":[46,112],"can":[50,96,164],"be":[51,97,165],"controlled":[52],"separately":[54],"modeled":[55],"actuated":[57,122],"segments":[58],"with":[59,99,142],"constant":[60],"or":[61],"variable":[62],"curvature.":[63],"As":[64,130],"shape":[66,155,163,189],"is":[71,85,121],"always":[72],"jointly":[73],"determined":[74],"by":[75],"its":[76],"actuation":[77],"interactions":[80],"from":[81],"environment,":[83],"it":[84],"hence":[86],"worth":[87],"exploring":[88],"opposite":[90],"approach":[91],"how":[93],"task":[95],"accomplished":[98],"minimal":[101],"actuators.":[104],"This":[105],"paper":[106],"presents":[107],"first":[109],"step":[110],"investigation":[114],"where":[115],"slim":[117],"3-actuator":[118],"reach":[124],"different":[125],"spatial":[126],"locations":[127],"under":[128],"gravity.":[129],"gravity":[132],"greatly":[133],"affects":[134],"robot's":[136,154],"shape,":[137],"monocular":[139],"camera,":[140],"together":[141],"two":[143],"UKFs":[144],"(Unscented":[145],"Kalman":[146],"Filters),":[147],"was":[148],"used":[149,166],"concurrently":[151],"estimate":[152],"feature":[158],"depth.":[159],"Then":[160],"estimated":[162],"updating":[168],"kinematics":[170],"model":[171],"achieve":[176],"motion":[177,194],"control.":[178],"Experiments":[179],"were":[180],"conducted":[181],"validate":[183],"effectiveness":[185],"proposed":[188],"estimation,":[190],"which":[191],"promises":[192],"control":[195],"implementation":[196],"near":[199],"future":[200],"work.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}