{"id":"https://openalex.org/W3003390524","doi":"https://doi.org/10.1109/iros40897.2019.8968301","title":"Global Vision-Based Impedance Control for Robotic Wall Polishing","display_name":"Global Vision-Based Impedance Control for Robotic Wall Polishing","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003390524","doi":"https://doi.org/10.1109/iros40897.2019.8968301","mag":"3003390524"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101828054","display_name":"Yang Zhou","orcid":"https://orcid.org/0009-0001-0713-9836"},"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":"Yang Zhou","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100640951","display_name":"Xiang Li","orcid":"https://orcid.org/0009-0003-8041-4931"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Tsinghua University,Department of Automation","Department of Automation, Tsinghua University"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026175357","display_name":"Linzhu Yue","orcid":"https://orcid.org/0000-0001-5244-6600"},"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":"Linzhu Yue","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021507546","display_name":"Linhai Gui","orcid":null},"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":"Linhai Gui","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101192270","display_name":"Guangli Sun","orcid":"https://orcid.org/0000-0002-6704-1195"},"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":"Guangli Sun","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049522782","display_name":"Xin Jiang","orcid":"https://orcid.org/0000-0003-3030-2694"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Jiang","raw_affiliation_strings":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen","institution_ids":["https://openalex.org/I204983213"]}]},{"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","Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101828054"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":0.7825,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.70564881,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6022","last_page":"6027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987000226974487,"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":0.9987000226974487,"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":0.993399977684021,"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":0.9854999780654907,"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/control-theory","display_name":"Control theory (sociology)","score":0.7009605765342712},{"id":"https://openalex.org/keywords/polishing","display_name":"Polishing","score":0.6959954500198364},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6146106719970703},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5984366536140442},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5840960144996643},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5664991736412048},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5613963603973389},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.547437846660614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5409458875656128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5365711450576782},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.5120511651039124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4975457489490509},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.48497724533081055},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4569656252861023},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4135768413543701},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3406426012516022},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19596800208091736},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1781735122203827},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07747799158096313}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7009605765342712},{"id":"https://openalex.org/C138113353","wikidata":"https://www.wikidata.org/wiki/Q611639","display_name":"Polishing","level":2,"score":0.6959954500198364},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6146106719970703},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5984366536140442},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5840960144996643},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5664991736412048},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5613963603973389},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.547437846660614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5409458875656128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5365711450576782},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.5120511651039124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4975457489490509},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.48497724533081055},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4569656252861023},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4135768413543701},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3406426012516022},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19596800208091736},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1781735122203827},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07747799158096313},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968301","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968301","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1498686692","https://openalex.org/W1514444483","https://openalex.org/W1978023077","https://openalex.org/W2006979842","https://openalex.org/W2015515047","https://openalex.org/W2018444593","https://openalex.org/W2033819227","https://openalex.org/W2056866338","https://openalex.org/W2070686796","https://openalex.org/W2082991751","https://openalex.org/W2113023836","https://openalex.org/W2135661525","https://openalex.org/W2144091652","https://openalex.org/W2157593358","https://openalex.org/W2163483541","https://openalex.org/W2171367852","https://openalex.org/W2552885458","https://openalex.org/W2608936230","https://openalex.org/W2612089457","https://openalex.org/W2783009944","https://openalex.org/W2789317214","https://openalex.org/W6658838613","https://openalex.org/W6679917403"],"related_works":["https://openalex.org/W3034003528","https://openalex.org/W2121085532","https://openalex.org/W2385307158","https://openalex.org/W100105332","https://openalex.org/W2105241133","https://openalex.org/W2167280463","https://openalex.org/W2516826372","https://openalex.org/W2372339341","https://openalex.org/W2373751797","https://openalex.org/W3003390524"],"abstract_inverted_index":{"Wall":[0],"polishing":[1,44],"is":[2,41,55,81,133,141,163],"a":[3,144],"typical":[4],"and":[5,30,34,70,120,169],"essential":[6],"procedure":[7],"in":[8,143],"the":[9,23,48,58,63,67,71,74,79,84,90,94,97,103,107,111,116,123,128,137,149,154,160,176,179],"interior":[10],"renovation.":[11],"However,":[12],"such":[13,135],"works":[14],"are":[15,172],"mainly":[16],"carried":[17],"out":[18],"by":[19],"humans,":[20],"which":[21,147],"have":[22],"disadvantages":[24],"of":[25,32,73,89,96,113,115,125,130,153,159,178],"low":[26],"efficiency,":[27],"inconsistent":[28],"quality,":[29],"issues":[31],"safety":[33],"health.":[35],"A":[36],"new":[37],"vision-based":[38],"impedance":[39,53],"controller":[40],"proposed":[42,180],"for":[43],"robots":[45],"to":[46,61,174],"automate":[47],"labor-intensive":[49],"works.":[50],"The":[51,87,156],"desired":[52],"model":[54],"specified":[56],"as":[57],"control":[59],"objective":[60],"regulate":[62],"dynamic":[64,157],"relationship":[65],"between":[66],"interaction":[68],"force":[69],"motion":[72,80],"robot":[75,98,117],"end":[76,118],"effector,":[77],"where":[78],"measured":[82],"with":[83,166],"vision":[85,91,104],"feedback.":[86],"use":[88],"feedback":[92,105],"guarantees":[93,122,148],"performance":[95,177],"from":[99,106],"two":[100],"aspect.":[101],"First,":[102],"high-resolution":[108],"camera":[109],"ensures":[110],"accuracy":[112],"measurement":[114],"effector":[119],"hence":[121],"quality":[124],"polishing.":[126],"Second,":[127],"concept":[129],"image":[131,138],"moment":[132],"introduced":[134],"that":[136],"Jacobian":[139],"matrix":[140],"non-singular":[142],"global":[145],"sense,":[146],"large":[150],"working":[151],"range":[152],"robot.":[155],"stability":[158],"closed-loop":[161],"system":[162],"rigorously":[164],"proved":[165],"Lyapunov":[167],"methods,":[168],"experimental":[170],"results":[171],"presented":[173],"illustrate":[175],"controller.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
