{"id":"https://openalex.org/W4214867170","doi":"https://doi.org/10.1109/lra.2022.3155821","title":"Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment","display_name":"Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment","publication_year":2022,"publication_date":"2022-03-03","ids":{"openalex":"https://openalex.org/W4214867170","doi":"https://doi.org/10.1109/lra.2022.3155821"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3155821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3155821","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2202.05200","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011496132","display_name":"Shivani Kamtikar","orcid":"https://orcid.org/0000-0002-3879-4833"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shivani Kamtikar","raw_affiliation_strings":["Department of Computer Science, University of Illinois at Urbana-Champaign, Champaign, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Illinois at Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046375989","display_name":"Samhita Marri","orcid":"https://orcid.org/0000-0001-7706-617X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samhita Marri","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Illinois at Urbana Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Illinois at Urbana Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039547659","display_name":"Benjamin Walt","orcid":"https://orcid.org/0000-0001-5427-3686"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Walt","raw_affiliation_strings":["Department of Mechanical Science and Engineering, University of Illinois at Urbana Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035933918","display_name":"Naveen Kumar Uppalapati","orcid":"https://orcid.org/0000-0001-6817-6668"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Naveen Kumar Uppalapati","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050432620","display_name":"Girish Krishnan","orcid":"https://orcid.org/0000-0002-1005-2862"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Girish Krishnan","raw_affiliation_strings":["Department of Mechanical Science and Engineering, University of Illinois at Urbana Champaign, Urbana, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073739058","display_name":"Girish Chowdhary","orcid":"https://orcid.org/0000-0002-4657-307X"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Girish Chowdhary","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois at Urbana Champaign, Urbana, IL, USA","Department of Computer Science, University of Illinois at Urbana-Champaign, Champaign, IL, USA"],"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois at Urbana Champaign, Urbana, IL, USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Computer Science, University of Illinois at Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5011496132"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":1.6293,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.81657258,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"5504","last_page":"5511"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"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":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9876999855041504,"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/T11402","display_name":"Vascular Malformations Diagnosis and Treatment","score":0.9764000177383423,"subfield":{"id":"https://openalex.org/subfields/2728","display_name":"Neurology"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.9498543739318848},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7572183609008789},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6844943165779114},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6697089672088623},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.643735945224762},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.594673752784729},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5592166781425476},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.5401403903961182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.487004816532135},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.42475077509880066}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9498543739318848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7572183609008789},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6844943165779114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6697089672088623},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.643735945224762},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.594673752784729},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5592166781425476},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.5401403903961182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.487004816532135},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.42475077509880066},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3155821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3155821","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2202.05200","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.05200","pdf_url":"https://arxiv.org/pdf/2202.05200","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2202.05200","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.05200","pdf_url":"https://arxiv.org/pdf/2202.05200","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G4233114941","display_name":null,"funder_award_id":"1024178","funder_id":"https://openalex.org/F4320332299","funder_display_name":"National Institute of Food and Agriculture"}],"funders":[{"id":"https://openalex.org/F4320332299","display_name":"National Institute of Food and Agriculture","ror":"https://ror.org/05qx3fv49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1515749184","https://openalex.org/W1539960013","https://openalex.org/W2064675550","https://openalex.org/W2114347750","https://openalex.org/W2116608856","https://openalex.org/W2163605009","https://openalex.org/W2171367852","https://openalex.org/W2556078315","https://openalex.org/W2788822937","https://openalex.org/W2807959585","https://openalex.org/W2883408812","https://openalex.org/W2913446864","https://openalex.org/W2934307726","https://openalex.org/W2963276406","https://openalex.org/W2966233967","https://openalex.org/W3003514119","https://openalex.org/W3010515602","https://openalex.org/W3018423233","https://openalex.org/W3035790680","https://openalex.org/W3043049019","https://openalex.org/W3136827180","https://openalex.org/W3206267548","https://openalex.org/W4248304976","https://openalex.org/W6637373629","https://openalex.org/W6637568146","https://openalex.org/W6684191040"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W3024380338","https://openalex.org/W2186268827","https://openalex.org/W2082631666"],"abstract_inverted_index":{"For":[0],"soft":[1,58,82,182],"continuum":[2],"arms,":[3],"visual":[4,14,23,85],"servoing":[5,24,86],"is":[6,25,102,139],"a":[7,57,67,81,88,115,193],"popular":[8],"control":[9,19,37,137,163],"strategy":[10],"that":[11],"relies":[12],"on":[13,80],"feedback":[15,162],"to":[16,41,54,72,104,109,141,169,189,192],"close":[17],"the":[18,34,43,46,92,96,106,111,124,127,143,146,154,160,165,181,185],"loop.":[20],"However,":[21],"robust":[22,76,168],"challenging":[26],"as":[27,151,173],"it":[28],"requires":[29],"reliable":[30],"feature":[31],"extraction":[32],"from":[33,126],"image,":[35],"accurate":[36],"models":[38],"and":[39,75,119,131,148,178],"sensors":[40],"perceive":[42],"shape":[44],"of":[45,49,95,180],"arm,":[47],"both":[48],"which":[50],"can":[51],"be":[52,190],"hard":[53],"implement":[55],"in":[56,114],"robot.":[59],"This":[60],"letter":[61],"circumvents":[62],"these":[63],"challenges":[64],"by":[65,84,153],"presenting":[66],"deep":[68],"neural":[69,100],"network-based":[70],"method":[71],"perform":[73],"smooth":[74],"3D":[77],"positioning":[78],"tasks":[79],"arm":[83],"using":[87],"camera":[89],"mounted":[90],"at":[91],"distal":[93],"end":[94],"arm.":[97,183],"A":[98,135],"convolutional":[99],"network":[101],"trained":[103],"predict":[105],"actuations":[107,125],"required":[108],"achieve":[110],"desired":[112,147],"pose":[113],"structured":[116],"environment.":[117],"Integrated":[118],"modular":[120],"approaches":[121],"for":[122],"estimating":[123],"image":[128,150],"are":[129,132],"proposed":[130],"experimentally":[133],"compared.":[134],"proportional":[136,161],"law":[138],"implemented":[140],"reduce":[142],"error":[144],"between":[145],"current":[149],"seen":[152],"camera.":[155],"The":[156],"model":[157,186],"together":[158],"with":[159,196],"makes":[164],"described":[166],"approach":[167],"several":[170],"variations":[171],"such":[172],"new":[174,194],"targets,":[175],"lighting,":[176],"loads,":[177],"diminution":[179],"Furthermore,":[184],"lends":[187],"itself":[188],"transferred":[191],"environment":[195],"minimal":[197],"effort.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2022-03-05T00:00:00"}
