{"id":"https://openalex.org/W4405787556","doi":"https://doi.org/10.1109/iros58592.2024.10801808","title":"A Unified Framework of Hybrid Vision-Force Control With Nullspace Compliance for Redundant Robots","display_name":"A Unified Framework of Hybrid Vision-Force Control With Nullspace Compliance for Redundant Robots","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787556","doi":"https://doi.org/10.1109/iros58592.2024.10801808"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5083398034","display_name":"Zhiwen Li","orcid":"https://orcid.org/0000-0002-1451-1325"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Li","raw_affiliation_strings":["Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063378661","display_name":"Weibing Li","orcid":"https://orcid.org/0000-0002-7970-9076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weibing Li","raw_affiliation_strings":["Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University,School of Computer Science and Engineering,Guangzhou,China,510006","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053348275","display_name":"Yanjie Chen","orcid":"https://orcid.org/0000-0001-9750-9177"},"institutions":[{"id":"https://openalex.org/I80947539","display_name":"Fuzhou University","ror":"https://ror.org/011xvna82","country_code":"CN","type":"education","lineage":["https://openalex.org/I80947539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Chen","raw_affiliation_strings":["Fuzhou University,School of Mechanical Engineering and Automation,Fuzhou,China,350108"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fuzhou University,School of Mechanical Engineering and Automation,Fuzhou,China,350108","institution_ids":["https://openalex.org/I80947539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015092734","display_name":"Yongping Pan","orcid":"https://orcid.org/0000-0002-8587-6065"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongping Pan","raw_affiliation_strings":["Sun Yat-Sen University,School of Advanced Manufacturing,Shenzhen,China,518100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sun Yat-Sen University,School of Advanced Manufacturing,Shenzhen,China,518100","institution_ids":["https://openalex.org/I157773358"]}]}],"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":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4882","last_page":"4887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9779999852180481,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9779999852180481,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.947700023651123,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9052000045776367,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/robot","display_name":"Robot","score":0.675490140914917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.643242597579956},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.6002393960952759},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5607633590698242},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36210721731185913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3597038686275482},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.05661278963088989}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.675490140914917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.643242597579956},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.6002393960952759},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5607633590698242},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36210721731185913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3597038686275482},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.05661278963088989},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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"},{"id":"https://openalex.org/F4320321160","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1976030291","https://openalex.org/W1986152369","https://openalex.org/W2006979842","https://openalex.org/W2070100112","https://openalex.org/W2077674010","https://openalex.org/W2088192611","https://openalex.org/W2095714930","https://openalex.org/W2119201694","https://openalex.org/W2122806065","https://openalex.org/W2131292439","https://openalex.org/W2145066084","https://openalex.org/W2156947754","https://openalex.org/W2950069298","https://openalex.org/W3137117478","https://openalex.org/W3198480409","https://openalex.org/W4226494925","https://openalex.org/W4288885957","https://openalex.org/W4312849954","https://openalex.org/W4321194899","https://openalex.org/W4390659858","https://openalex.org/W4390956540"],"related_works":["https://openalex.org/W2410395228","https://openalex.org/W3125941065","https://openalex.org/W2484615095","https://openalex.org/W4366449942","https://openalex.org/W4366371796","https://openalex.org/W4366371752","https://openalex.org/W4205440829","https://openalex.org/W1489027086","https://openalex.org/W2339265919","https://openalex.org/W4231589098"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,55,95],"handle":[3],"contact":[4,30,36,78,121,161],"makes":[5],"robots":[6,76,89],"qualified":[7,158],"for":[8,74,87,159],"many":[9],"complicated":[10],"tasks,":[11],"such":[12],"as":[13],"welding,":[14],"hammering,":[15],"and":[16,23,63,102,167],"wiping.":[17],"Robot":[18],"cameras":[19],"facilitate":[20],"position":[21],"planning":[22],"control":[24,47,104],"without":[25],"the":[26,57,60,68,99,106,128,131,135,140,154,164,171],"geometric":[27,118],"knowledge":[28,54,119],"of":[29,71,120,134],"surfaces":[31,37,122],"since":[32],"they":[33],"can":[34],"project":[35,56],"onto":[38],"a":[39,146],"2-dimensional":[40],"image":[41],"plane.":[42],"However,":[43],"existing":[44],"hybrid":[45],"vision-force":[46],"(HVFC)":[48],"methods":[49],"still":[50],"rely":[51],"on":[52,59,145],"this":[53],"force":[58,129],"constraint":[61],"subspace":[62],"do":[64],"not":[65,124],"adequately":[66],"leverage":[67],"redundant":[69,75,88,132],"degrees":[70],"freedom":[72],"(DoFs)":[73],"with":[77,91,113],"tasks.":[79],"This":[80],"paper":[81],"proposes":[82],"an":[83,92],"enhanced":[84],"HVFC":[85,97],"solution":[86],"equipped":[90],"eye-to-hand":[93],"camera":[94],"unify":[96],"in":[98,105,163,170],"Cartesian":[100,165],"space":[101,133,166],"impedance":[103],"joint":[107,172],"nullspace":[108],"into":[109,130],"one":[110],"closed-loop":[111],"dynamics":[112],"rigorous":[114],"stability":[115],"guarantees.":[116],"Any":[117],"is":[123,157],"required":[125],"by":[126],"projecting":[127],"visual":[136],"task":[137],"rather":[138],"than":[139],"surface\u2019s":[141],"normal":[142],"space.":[143],"Experiments":[144],"seven-":[147],"DoF":[148],"collaborative":[149],"robot":[150],"have":[151],"verified":[152],"that":[153],"proposed":[155],"method":[156],"simultaneous":[160],"tasks":[162],"compliant":[168],"interaction":[169],"nullspace.":[173]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
