{"id":"https://openalex.org/W4413925969","doi":"https://doi.org/10.1109/icra55743.2025.11128328","title":"6-DoF Shape Servoing of Deformable Objects in Co-Rotated Space of Modal Graph","display_name":"6-DoF Shape Servoing of Deformable Objects in Co-Rotated Space of Modal Graph","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925969","doi":"https://doi.org/10.1109/icra55743.2025.11128328"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5044428794","display_name":"Bohan Yang","orcid":"https://orcid.org/0000-0002-5305-7591"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bohan Yang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,HKSAR,China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,HKSAR,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101942667","display_name":"Tianyu Huang","orcid":"https://orcid.org/0000-0003-0361-1205"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianyu Huang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,HKSAR,China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,HKSAR,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010124359","display_name":"Fangxun Zhong","orcid":"https://orcid.org/0000-0002-1151-1995"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangxun Zhong","raw_affiliation_strings":["School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen"],"affiliations":[{"raw_affiliation_string":"School of Science and Engineering, The Chinese University of Hong Kong,Shenzhen","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,HKSAR,China"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,HKSAR,China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5044428794"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29226137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10538","last_page":"10544"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9925000071525574,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9925000071525574,"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"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9642999768257141,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T11737","display_name":"Advanced Materials and Mechanics","score":0.9513999819755554,"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/modal","display_name":"Modal","score":0.6974897980690002},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5856444239616394},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5692209005355835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5668958425521851},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.5106807351112366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49709346890449524},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.43775635957717896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.28272444009780884},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.1069992184638977},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.08551254868507385}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6974897980690002},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5856444239616394},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5692209005355835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5668958425521851},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.5106807351112366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49709346890449524},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.43775635957717896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28272444009780884},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1069992184638977},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.08551254868507385},{"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/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128328","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1985787666","https://openalex.org/W1991783145","https://openalex.org/W2005412377","https://openalex.org/W2064772105","https://openalex.org/W2076897996","https://openalex.org/W2132396702","https://openalex.org/W2153961306","https://openalex.org/W2156410578","https://openalex.org/W2164361535","https://openalex.org/W2248463013","https://openalex.org/W2322971354","https://openalex.org/W2789411136","https://openalex.org/W2908861886","https://openalex.org/W2909916734","https://openalex.org/W2916667958","https://openalex.org/W3039664495","https://openalex.org/W3199951390","https://openalex.org/W3205146762","https://openalex.org/W4210725839","https://openalex.org/W4280511593","https://openalex.org/W4285102175","https://openalex.org/W4289690297","https://openalex.org/W4376456461","https://openalex.org/W4386408334","https://openalex.org/W4388983920","https://openalex.org/W4389893295","https://openalex.org/W4399469378"],"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/W3024380338","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W4293869118","https://openalex.org/W2118183560"],"abstract_inverted_index":{"Shape":[0],"control":[1,19,104],"of":[2,59,102,122,137],"deformable":[3],"objects":[4,60,116],"under":[5],"both":[6],"rotational":[7,33,143],"and":[8,31,64,84,120,128],"translational":[9],"deformations":[10,34],"is":[11,25],"important":[12],"for":[13,54,109],"versatile":[14],"robotic":[15],"applications.":[16],"However,":[17],"deformation":[18,73],"with":[20,61,106,125],"full":[21],"6-degree-of-freedom":[22],"(DoF)":[23],"manipulation":[24],"an":[26],"open":[27],"problem,":[28,42],"since":[29],"modeling":[30],"describing":[32],"lead":[35],"to":[36,95,141],"significant":[37],"challenges.":[38],"To":[39],"tackle":[40],"the":[41,55,96,100,118,135],"this":[43,68],"paper":[44],"proposes":[45],"a":[46,51,82],"novel":[47],"method":[48,124],"by":[49],"introducing":[50],"co-rotated":[52,139],"space":[53],"modal":[56],"graph":[57],"representation":[58],"unknown":[62],"physical":[63],"geometric":[65],"models.":[66],"In":[67],"space,":[69],"we":[70],"design":[71,101],"new":[72],"features":[74,90,140],"that":[75],"can":[76,91],"encode":[77],"local":[78],"rotations":[79],"while":[80],"preserving":[81],"compact":[83],"low-frequency":[85],"shape":[86],"representation.":[87],"Moreover,":[88],"these":[89],"be":[92],"mapped":[93],"analytically":[94],"robot":[97],"manipulation,":[98],"enabling":[99],"adaptive":[103],"laws":[105],"guaranteed":[107],"stability":[108],"unmodeled":[110],"objects.":[111],"Experiments":[112],"on":[113],"complex":[114],"volumetric":[115],"demonstrate":[117],"effectiveness":[119],"advantage":[121],"our":[123],"raw,":[126],"noisy,":[127],"unregistered":[129],"point":[130],"clouds.":[131],"The":[132],"results":[133],"highlight":[134],"importance":[136],"integrating":[138],"address":[142],"deformations.":[144]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
