{"id":"https://openalex.org/W4200203567","doi":"https://doi.org/10.1109/iros51168.2021.9636138","title":"Toward State-Unsaturation Guaranteed Fault Detection Method in Visual Servoing of Soft Robot Manipulators","display_name":"Toward State-Unsaturation Guaranteed Fault Detection Method in Visual Servoing of Soft Robot Manipulators","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200203567","doi":"https://doi.org/10.1109/iros51168.2021.9636138"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636138","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636138","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5057383878","display_name":"Haoyuan Gu","orcid":"https://orcid.org/0000-0002-0252-4743"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyuan Gu","raw_affiliation_strings":["Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107772128","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"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"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"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":"Hesheng Wang","raw_affiliation_strings":["Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, China and Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, China and Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683","https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100357376","display_name":"Weidong Chen","orcid":"https://orcid.org/0000-0001-8757-0679"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Chen","raw_affiliation_strings":["Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of System Control and Information Processing of Ministry of Education, Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3942","last_page":"3947"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9991999864578247,"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":0.9991999864578247,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.994700014591217,"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/T11569","display_name":"Optical Coherence Tomography Applications","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.7576435804367065},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7298034429550171},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6719163656234741},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6594010591506958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6053265929222107},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5639896392822266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5416946411132812},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.5165106654167175},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4682396948337555},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.2896198630332947},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2022189497947693}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.7576435804367065},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7298034429550171},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6719163656234741},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6594010591506958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6053265929222107},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5639896392822266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5416946411132812},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.5165106654167175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4682396948337555},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2896198630332947},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2022189497947693},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636138","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636138","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321881","display_name":"Shanghai Municipal Education Commission","ror":"https://ror.org/05tewj457"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W572601373","https://openalex.org/W1997696996","https://openalex.org/W2553241245","https://openalex.org/W2576246534","https://openalex.org/W2588638671","https://openalex.org/W2745494968","https://openalex.org/W2914954313","https://openalex.org/W2967427547","https://openalex.org/W2995349907","https://openalex.org/W3008562595","https://openalex.org/W3008974801","https://openalex.org/W3041548121","https://openalex.org/W3089978207","https://openalex.org/W3092598375","https://openalex.org/W3111205756","https://openalex.org/W6771198555","https://openalex.org/W6780934799","https://openalex.org/W6784614037"],"related_works":["https://openalex.org/W2126852585","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/W2099513764","https://openalex.org/W2547642540","https://openalex.org/W2091554547"],"abstract_inverted_index":{"This":[0],"paper":[1],"puts":[2],"forward":[3],"a":[4,32],"novel":[5],"sensor-less":[6],"fault":[7,62],"detection":[8],"method":[9,27,171],"with":[10],"only":[11],"task":[12,57],"errors":[13],"feedback":[14],"and":[15,67,84,136,154,175],"applies":[16],"it":[17],"to":[18,63,79,116,125,147,164],"visual":[19],"servoing":[20],"tasks":[21],"of":[22,47,56,97,119,121,151,157,168],"soft":[23],"robot":[24],"manipulators.":[25],"The":[26],"is":[28,91,145],"developed":[29,146],"by":[30,51],"introducing":[31],"suitably":[33],"designed":[34],"endogenous":[35],"accessory":[36],"signal":[37],"(EAS).":[38],"On":[39],"the":[40,45,54,61,70,75,80,95,98,108,111,117,122,126,149,152,155,158,166,169],"one":[41],"hand,":[42,72],"EAS":[43,73],"transforms":[44],"change":[46,55],"jacobian":[48],"matrix":[49],"led":[50],"faults":[52],"into":[53],"errors,":[58],"which":[59],"enables":[60],"be":[64],"directly":[65],"measured":[66],"detected;":[68],"on":[69],"other":[71],"adjusts":[74],"state":[76,89],"trajectories":[77],"according":[78],"distance":[81],"between":[82],"states":[83,109],"their":[85],"boundaries,":[86],"so":[87],"that":[88,106,114],"saturation":[90],"avoided.":[92],"To":[93],"enhance":[94],"robustness":[96],"method,":[99],"we":[100],"introduce":[101],"an":[102],"artificial":[103,137],"potential":[104,138],"field":[105],"keeps":[107],"from":[110],"undesired":[112],"hyperplanes":[113],"lead":[115],"loss":[118],"effectiveness":[120],"method.":[123],"Due":[124],"uncalibrated":[127],"feature":[128],"point,":[129],"its":[130],"coordinates":[131],"used":[132],"in":[133,172],"control":[134],"laws":[135],"filed":[139],"are":[140,162],"unknown.":[141],"An":[142],"adaptive":[143],"algorithm":[144],"guarantee":[148],"stability":[150],"system":[153],"convergence":[156],"image":[159],"errors.":[160],"Experiments":[161],"conducted":[163],"validate":[165],"performance":[167],"proposed":[170],"both":[173],"healthy":[174],"faulty":[176],"systems.":[177]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}