{"id":"https://openalex.org/W2154225470","doi":"https://doi.org/10.1109/iros.2007.4399445","title":"Object manipulation of a humanoid robot based on visual Servoing","display_name":"Object manipulation of a humanoid robot based on visual Servoing","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2154225470","doi":"https://doi.org/10.1109/iros.2007.4399445","mag":"2154225470"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399445","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/A5030170158","display_name":"Yunting Pang","orcid":"https://orcid.org/0000-0001-7450-9756"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunting Pang","raw_affiliation_strings":["Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002017744","display_name":"Dongyong Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongyong Jia","raw_affiliation_strings":["Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101553867","display_name":"Ye Tian","orcid":"https://orcid.org/0000-0002-3410-5164"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Tian","raw_affiliation_strings":["Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023088081","display_name":"Junyao Gao","orcid":"https://orcid.org/0009-0004-6527-8166"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyao Gao","raw_affiliation_strings":["Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100340717","display_name":"Weimin Zhang","orcid":"https://orcid.org/0000-0001-6632-0144"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Zhang","raw_affiliation_strings":["Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute of Astrospace Science and Engineering School, Beijing Institute of Technology, Haidian, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1124","last_page":"1129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9987999796867371,"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":0.9987999796867371,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8861236572265625},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8696804046630859},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7817560434341431},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7617567777633667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7084783315658569},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6411659121513367},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6297999620437622},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5961712002754211},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5956057906150818},{"id":"https://openalex.org/keywords/visual-feedback","display_name":"Visual feedback","score":0.46918678283691406},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4538520574569702},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45043161511421204},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41270536184310913},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.22947335243225098},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20747911930084229},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17340612411499023}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8861236572265625},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8696804046630859},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7817560434341431},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7617567777633667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7084783315658569},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6411659121513367},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6297999620437622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5961712002754211},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5956057906150818},{"id":"https://openalex.org/C3020716817","wikidata":"https://www.wikidata.org/wiki/Q4132092","display_name":"Visual feedback","level":2,"score":0.46918678283691406},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4538520574569702},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45043161511421204},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41270536184310913},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.22947335243225098},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20747911930084229},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17340612411499023},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2007.4399445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399445","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W12410007","https://openalex.org/W1501175108","https://openalex.org/W1610841860","https://openalex.org/W1935300939","https://openalex.org/W1935463112","https://openalex.org/W1976646310","https://openalex.org/W2006260022","https://openalex.org/W2043619588","https://openalex.org/W2112725185","https://openalex.org/W2133211499","https://openalex.org/W2143597104","https://openalex.org/W2146097584","https://openalex.org/W2146922385","https://openalex.org/W2150034870","https://openalex.org/W2167501464","https://openalex.org/W4234825356","https://openalex.org/W6600496096"],"related_works":["https://openalex.org/W1627415758","https://openalex.org/W2035976912","https://openalex.org/W2073833219","https://openalex.org/W2626492911","https://openalex.org/W3008091119","https://openalex.org/W3000098384","https://openalex.org/W2023429330","https://openalex.org/W2154225470","https://openalex.org/W958933232","https://openalex.org/W2784226822"],"abstract_inverted_index":{"Vision":[0],"is":[1,21,71],"a":[2,13,28,63],"very":[3],"important":[4],"noncontact":[5],"sensor":[6],"for":[7,27,62],"humanoid":[8,29,64],"robots.":[9],"In":[10],"this":[11],"paper,":[12],"method":[14],"combining":[15],"visual":[16,19],"feedforward":[17,32],"and":[18,37],"feedback":[20,43],"proposed":[22],"to":[23],"implement":[24],"reach-to-grasp":[25,35,60],"task":[26,36,61],"robot.":[30,65],"Visual":[31,42],"facilitates":[33,59],"the":[34,39,45,49,69,74],"reduces":[38],"manipulation":[40],"time.":[41],"increases":[44],"robustness":[46,67],"by":[47,73],"compensating":[48],"weak":[50],"calibration":[51],"error.":[52],"The":[53,66],"combination":[54],"of":[55,68],"two":[56],"control":[57],"strategies":[58],"system":[70],"confirmed":[72],"experiment":[75],"results.":[76]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}