{"id":"https://openalex.org/W1993355244","doi":"https://doi.org/10.1109/iros.2007.4399313","title":"Omnidirectional visual-servo of a Gough-Stewart platform","display_name":"Omnidirectional visual-servo of a Gough-Stewart platform","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W1993355244","doi":"https://doi.org/10.1109/iros.2007.4399313","mag":"1993355244"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5027985388","display_name":"Omar Tahri","orcid":"https://orcid.org/0000-0002-1015-8878"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Omar Tahri","raw_affiliation_strings":["LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","Univ. Blaise Pascal/IFMA, Aubiere"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I198244214"]},{"raw_affiliation_string":"Univ. Blaise Pascal/IFMA, Aubiere","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048178604","display_name":"Youcef Mezouar","orcid":"https://orcid.org/0000-0001-8138-3928"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Youcef Mezouar","raw_affiliation_strings":["LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","Univ. Blaise Pascal/IFMA, Aubiere"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I198244214"]},{"raw_affiliation_string":"Univ. Blaise Pascal/IFMA, Aubiere","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000816393","display_name":"Nicolas Andreff","orcid":"https://orcid.org/0000-0001-5687-5533"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Andreff","raw_affiliation_strings":["LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","Univ. Blaise Pascal/IFMA, Aubiere"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I198244214"]},{"raw_affiliation_string":"Univ. Blaise Pascal/IFMA, Aubiere","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019929775","display_name":"Philippe Martinet","orcid":"https://orcid.org/0000-0001-5827-0431"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I198244214","display_name":"Universit\u00e9 Clermont Auvergne","ror":"https://ror.org/01a8ajp46","country_code":"FR","type":"education","lineage":["https://openalex.org/I198244214"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Martinet","raw_affiliation_strings":["LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","Univ. Blaise Pascal/IFMA, Aubiere"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA-CNRS, Universit\u00e9 Blaise Pascal/IFMA, 63175 Aubiere, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I198244214"]},{"raw_affiliation_string":"Univ. Blaise Pascal/IFMA, Aubiere","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1326","last_page":"1331"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/catadioptric-system","display_name":"Catadioptric system","score":0.9640129208564758},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7975152730941772},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7588231563568115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6873074769973755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6279656887054443},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.48594915866851807},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.47659415006637573},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.43796199560165405},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.43480557203292847},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3873078227043152},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20096823573112488},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18538153171539307},{"id":"https://openalex.org/keywords/lens","display_name":"Lens (geology)","score":0.07240068912506104}],"concepts":[{"id":"https://openalex.org/C153396827","wikidata":"https://www.wikidata.org/wiki/Q1142960","display_name":"Catadioptric system","level":3,"score":0.9640129208564758},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7975152730941772},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7588231563568115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6873074769973755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6279656887054443},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.48594915866851807},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.47659415006637573},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.43796199560165405},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.43480557203292847},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3873078227043152},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20096823573112488},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18538153171539307},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.07240068912506104},{"id":"https://openalex.org/C78762247","wikidata":"https://www.wikidata.org/wiki/Q1273174","display_name":"Petroleum engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02468506v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-02468506","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2007, San Diego, France. pp.1326-1331, ⟨10.1109/IROS.2007.4399313⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6600000262260437,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W165571211","https://openalex.org/W1581235021","https://openalex.org/W1596675702","https://openalex.org/W1602705510","https://openalex.org/W1997378331","https://openalex.org/W2053411639","https://openalex.org/W2078943271","https://openalex.org/W2107738794","https://openalex.org/W2112845348","https://openalex.org/W2114742112","https://openalex.org/W2122578614","https://openalex.org/W2128342817","https://openalex.org/W2128589587","https://openalex.org/W2132653682","https://openalex.org/W2144042618","https://openalex.org/W2156100165","https://openalex.org/W2156874654","https://openalex.org/W2326865608","https://openalex.org/W3139636921","https://openalex.org/W6681397368"],"related_works":["https://openalex.org/W2084759888","https://openalex.org/W2350925281","https://openalex.org/W2107738794","https://openalex.org/W2081721062","https://openalex.org/W2114454005","https://openalex.org/W2162176131","https://openalex.org/W49933351","https://openalex.org/W2581660163","https://openalex.org/W2734647288","https://openalex.org/W2244279624"],"abstract_inverted_index":{"This":[0,25],"work":[1],"deals":[2],"with":[3],"the":[4,9,22,37,52,62,66,78],"control":[5],"by":[6],"vision":[7],"of":[8,32,77],"Gough-Stewart":[10],"platform.":[11],"For":[12],"that,":[13],"a":[14,29,42,73],"central":[15],"catadioptric":[16,53],"camera":[17,45,63],"is":[18,46],"used":[19,56,71],"to":[20,27,57],"observe":[21],"platform":[23,79],"legs.":[24],"allows":[26],"obtain":[28],"large":[30],"field":[31],"view,":[33],"and":[34],"then":[35],"avoids":[36],"occlusion":[38],"problems":[39],"observed":[40],"when":[41],"classical":[43],"perspective":[44],"used.":[47],"The":[48],"leg":[49],"projections":[50],"onto":[51],"plane":[54],"are":[55],"determine":[58],"their":[59],"orientation":[60],"in":[61,72],"frame.":[64],"Finally,":[65],"computed":[67],"orientations":[68],"will":[69],"be":[70],"visual":[74],"servoing":[75],"scheme":[76],"effector.":[80]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}