{"id":"https://openalex.org/W4312303393","doi":"https://doi.org/10.1109/iros47612.2022.9981159","title":"Skeleton-based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space","display_name":"Skeleton-based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312303393","doi":"https://doi.org/10.1109/iros47612.2022.9981159"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981159","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5033564374","display_name":"Abhinav Gandhi","orcid":"https://orcid.org/0000-0002-3834-8112"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Abhinav Gandhi","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045240741","display_name":"Sreejani Chatterjee","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sreejani Chatterjee","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008443652","display_name":"Berk \u00c7all\u0131","orcid":"https://orcid.org/0000-0003-0742-5231"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Berk Calli","raw_affiliation_strings":["Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609"],"affiliations":[{"raw_affiliation_string":"Worcester Polytechnic Institute,Department of Robotics Engineering,Worcester,MA,USA,01609","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5033564374"],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":0.4198,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.71132183,"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":"2182","last_page":"2189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":1.0,"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":1.0,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T12859","display_name":"Cell Image Analysis Techniques","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9384186863899231},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7716782093048096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6506474018096924},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6285621523857117},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5652459859848022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5423629283905029},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5410735607147217},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5017800331115723},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4904429614543915},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44358137249946594},{"id":"https://openalex.org/keywords/visual-control","display_name":"Visual control","score":0.4325902462005615},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42619308829307556},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2480030655860901},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12437689304351807}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9384186863899231},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7716782093048096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6506474018096924},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6285621523857117},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5652459859848022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5423629283905029},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5410735607147217},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5017800331115723},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4904429614543915},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44358137249946594},{"id":"https://openalex.org/C2780527621","wikidata":"https://www.wikidata.org/wiki/Q7936593","display_name":"Visual control","level":2,"score":0.4325902462005615},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42619308829307556},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2480030655860901},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12437689304351807},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981159","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5844947984","display_name":null,"funder_award_id":"IIS-1900953","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1574808638","https://openalex.org/W1851410152","https://openalex.org/W1980392157","https://openalex.org/W1986247620","https://openalex.org/W2048733914","https://openalex.org/W2076231474","https://openalex.org/W2111048779","https://openalex.org/W2124526378","https://openalex.org/W2165678395","https://openalex.org/W2167501464","https://openalex.org/W2171618348","https://openalex.org/W2175012183","https://openalex.org/W2190954042","https://openalex.org/W2467954037","https://openalex.org/W2768409770","https://openalex.org/W2782715402","https://openalex.org/W2784226407","https://openalex.org/W2907363067","https://openalex.org/W2963188159","https://openalex.org/W2964318832","https://openalex.org/W3039664495","https://openalex.org/W3045785884","https://openalex.org/W3098612954","https://openalex.org/W3134413338","https://openalex.org/W3160566902","https://openalex.org/W3165765046","https://openalex.org/W4235434335","https://openalex.org/W4236881204","https://openalex.org/W6791787010"],"related_works":["https://openalex.org/W2171817899","https://openalex.org/W2376367950","https://openalex.org/W213797040","https://openalex.org/W2620386921","https://openalex.org/W571470105","https://openalex.org/W1851410152","https://openalex.org/W2091554547","https://openalex.org/W3034003528","https://openalex.org/W2281711232","https://openalex.org/W3020931357"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,42,83,92],"novel":[4],"visual":[5,56,107],"servoing":[6,57,108],"method":[7,124],"that":[8,59,117],"controls":[9],"robotic":[11],"manipulator":[12,84],"in":[13,85],"the":[14,20,28,35,61,65,68,72,86,99,104,119,122,134],"configuration":[15,87,101],"space":[16],"as":[17],"opposed":[18],"to":[19,98,103,133],"classical":[21,105,135],"vision-based":[22],"control":[23],"methods":[24],"solely":[25],"focusing":[26],"on":[27],"end":[29],"effector":[30],"pose.":[31],"We":[32,51,110],"first":[33],"extract":[34],"robot's":[36],"shape":[37],"from":[38],"depth":[39],"images":[40],"using":[41,48],"skeletonization":[43],"algorithm":[44],"and":[45,71,113,125,130],"represent":[46],"it":[47],"parametric":[49],"curves.":[50],"then":[52],"adopt":[53],"an":[54],"adaptive":[55,106],"scheme":[58,77],"estimates":[60],"Jacobian":[62],"online":[63],"relating":[64],"changes":[66],"of":[67,121],"curve":[69],"parameters":[70],"joint":[73],"velocities.":[74],"The":[75],"proposed":[76,123],"does":[78],"not":[79],"only":[80],"enable":[81],"controlling":[82],"space,":[88],"but":[89],"also":[90],"demonstrates":[91],"better":[93],"transient":[94],"response":[95],"while":[96],"converging":[97],"goal":[100],"compared":[102,132],"methods.":[109],"present":[111],"simulations":[112],"real":[114],"robot":[115],"experiments":[116],"demonstrate":[118],"capabilities":[120],"analyze":[126],"its":[127],"performance,":[128],"robustness,":[129],"repeatability":[131],"algorithms.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
