{"id":"https://openalex.org/W4285178643","doi":"https://doi.org/10.1109/lra.2022.3186074","title":"Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes","display_name":"Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes","publication_year":2022,"publication_date":"2022-06-24","ids":{"openalex":"https://openalex.org/W4285178643","doi":"https://doi.org/10.1109/lra.2022.3186074"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3186074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186074","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/2405.11798","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7464-7187","affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050690629","display_name":"Naoaki Kanazawa","orcid":"https://orcid.org/0009-0002-3527-3087"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoaki Kanazawa","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112883439","display_name":"Kei Okada","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5087094940"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.9721,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.7389378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"7881","last_page":"7887"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9980999827384949,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9979000091552734,"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/visual-servoing","display_name":"Visual servoing","score":0.9095664620399475},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.8493320941925049},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7680271863937378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7615152597427368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6532377004623413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.587000846862793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1456296145915985}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9095664620399475},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.8493320941925049},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7680271863937378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7615152597427368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6532377004623413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.587000846862793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1456296145915985},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3186074","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186074","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:2405.11798","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.11798","pdf_url":"https://arxiv.org/pdf/2405.11798","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:2405.11798","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.11798","pdf_url":"https://arxiv.org/pdf/2405.11798","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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285178643.pdf","grobid_xml":"https://content.openalex.org/works/W4285178643.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W1564155246","https://openalex.org/W1966364438","https://openalex.org/W2006273250","https://openalex.org/W2018469774","https://openalex.org/W2027454283","https://openalex.org/W2064675550","https://openalex.org/W2100495367","https://openalex.org/W2129350984","https://openalex.org/W2212242068","https://openalex.org/W2498917392","https://openalex.org/W2525973954","https://openalex.org/W2789805345","https://openalex.org/W2963669336","https://openalex.org/W3003170810","https://openalex.org/W3035861026","https://openalex.org/W3135705943","https://openalex.org/W3164541113","https://openalex.org/W4248304976","https://openalex.org/W6631190155","https://openalex.org/W6736178813","https://openalex.org/W6800425027"],"related_works":["https://openalex.org/W2107326529","https://openalex.org/W4293869118","https://openalex.org/W2118183560","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674"],"abstract_inverted_index":{"In":[0,42],"this":[1],"study,":[2],"we":[3,69],"investigate":[4],"object":[5,118],"grasping":[6,119],"by":[7,116],"visual":[8,80,95,123],"servoing":[9,81,96],"in":[10,51,58,63],"a":[11,18,30,71,74,88,107],"low-rigidity":[12,19,75,108],"robot.":[13],"It":[14],"is":[15],"difficult":[16],"for":[17,73],"robot":[20,45,76],"to":[21,29,49,66,77,98,106],"handle":[22],"its":[23,52,83,94,114],"own":[24],"body":[25,38,100],"as":[26,55],"intended":[27],"compared":[28],"rigid":[31],"robot,":[32],"and":[33,37,61,112],"calibration":[34],"between":[35],"vision":[36],"takes":[39],"some":[40],"time.":[41],"addition,":[43],"the":[44,56],"must":[46],"constantly":[47],"adapt":[48],"changes":[50],"body,":[53],"such":[54],"change":[57,62,93],"camera":[59],"position":[60],"joints":[64],"due":[65],"aging.":[67],"Therefore,":[68],"develop":[70,87],"method":[72,105],"autonomously":[78],"learn":[79],"of":[82],"body.":[84],"We":[85,102],"also":[86],"mechanism":[89],"that":[90],"can":[91],"adaptively":[92],"according":[97],"temporal":[99],"changes.":[101],"apply":[103],"our":[104],"6-axis":[109],"arm,":[110],"MyCobot,":[111],"confirm":[113],"effectiveness":[115],"conducting":[117],"experiments":[120],"based":[121],"on":[122],"servoing.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2022-07-14T00:00:00"}
