{"id":"https://openalex.org/W4390204223","doi":"https://doi.org/10.1109/lra.2023.3346758","title":"Adaptive Shape Servoing of Elastic Rods Using Parameterized Regression Features and Auto-Tuning Motion Controls","display_name":"Adaptive Shape Servoing of Elastic Rods Using Parameterized Regression Features and Auto-Tuning Motion Controls","publication_year":2023,"publication_date":"2023-12-25","ids":{"openalex":"https://openalex.org/W4390204223","doi":"https://doi.org/10.1109/lra.2023.3346758"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3346758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3346758","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":["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/A5079424145","display_name":"Jiaming Qi","orcid":"https://orcid.org/0000-0003-2655-6835"},"institutions":[{"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":true,"raw_author_name":"Jiaming Qi","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029452686","display_name":"Guangtao Ran","orcid":"https://orcid.org/0000-0001-7711-1436"},"institutions":[{"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":"Guangtao Ran","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057216347","display_name":"Bohui Wang","orcid":"https://orcid.org/0000-0003-1625-6548"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bohui Wang","raw_affiliation_strings":["School of Cyber Science and Engineering, Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"School of Cyber Science and Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414683","display_name":"Jian Liu","orcid":"https://orcid.org/0000-0002-5622-5183"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Liu","raw_affiliation_strings":["School of Automation, Southeast University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030071778","display_name":"Wanyu Ma","orcid":"https://orcid.org/0000-0002-6535-0998"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wanyu Ma","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076945936","display_name":"Peng Zhou","orcid":"https://orcid.org/0000-0002-7020-0943"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peng Zhou","raw_affiliation_strings":["Department of Computer Science, University of Hong Kong, Pok Fu Lam, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Hong Kong, Pok Fu Lam, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056734737","display_name":"David Navarro-Alarc\u00f3n","orcid":"https://orcid.org/0000-0002-3426-6638"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"David Navarro-Alarcon","raw_affiliation_strings":["Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5079424145"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":1.9271,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.88533808,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"9","issue":"2","first_page":"1428","last_page":"1435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9995999932289124,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9975000023841858,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7058144807815552},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6852908134460449},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6178625822067261},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6170886158943176},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.601585328578949},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5338795185089111},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5142109394073486},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5090593695640564},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5043069124221802},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4551723599433899},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3848823606967926},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22691777348518372}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7058144807815552},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6852908134460449},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6178625822067261},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6170886158943176},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.601585328578949},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5338795185089111},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5142109394073486},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5090593695640564},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5043069124221802},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4551723599433899},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3848823606967926},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22691777348518372},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3346758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3346758","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:ira.lib.polyu.edu.hk:10397/113791","is_oa":false,"landing_page_url":"http://hdl.handle.net/10397/113791","pdf_url":null,"source":{"id":"https://openalex.org/S4306400205","display_name":"PolyU Institutional Research Archive (Hong Kong Polytechnic University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I14243506","host_organization_name":"Hong Kong Polytechnic University","host_organization_lineage":["https://openalex.org/I14243506"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Journal/Magazine Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5199999809265137,"display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G5927091331","display_name":null,"funder_award_id":"2023M740926","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2000340713","https://openalex.org/W2026962387","https://openalex.org/W2082991751","https://openalex.org/W2089292080","https://openalex.org/W2093364779","https://openalex.org/W2157593358","https://openalex.org/W2163403935","https://openalex.org/W2170062006","https://openalex.org/W2354866966","https://openalex.org/W2768409770","https://openalex.org/W2784226407","https://openalex.org/W2808405904","https://openalex.org/W2906329276","https://openalex.org/W2938419802","https://openalex.org/W2962871243","https://openalex.org/W2963265239","https://openalex.org/W3006643662","https://openalex.org/W3007084397","https://openalex.org/W3039664495","https://openalex.org/W3134753181","https://openalex.org/W3135553197","https://openalex.org/W3164946289","https://openalex.org/W3170278846","https://openalex.org/W4205649593","https://openalex.org/W4230445183","https://openalex.org/W4280511593","https://openalex.org/W4312353067","https://openalex.org/W4313533756","https://openalex.org/W4362653204","https://openalex.org/W4378084968","https://openalex.org/W4384518965","https://openalex.org/W6681394968"],"related_works":["https://openalex.org/W2051058708","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/W3024380338","https://openalex.org/W2089079925","https://openalex.org/W2637148753"],"abstract_inverted_index":{"The":[0,68],"robotic":[1],"manipulation":[2],"of":[3,15,94,132],"deformable":[4],"linear":[5],"objects":[6,46,133],"has":[7],"shown":[8],"great":[9],"potential":[10],"in":[11,59],"a":[12,77,105,164],"wide":[13],"range":[14],"real-world":[16],"applications.":[17],"However,":[18],"it":[19],"presents":[20],"many":[21],"challenges":[22],"due":[23],"to":[24,43,75,143],"the":[25,56,60,87,92,102,114,119,129,145,151,161],"objects'":[26],"non-linear":[27],"properties":[28],"and":[29,53,83,122],"high-dimensional":[30],"geometric":[31],"configuration.":[32],"In":[33],"this":[34],"letter,":[35],"we":[36],"propose":[37],"an":[38,95],"efficient":[39],"shape":[40,97,123],"servoing":[41],"framework":[42],"manipulate":[44,101],"elastic":[45],"through":[47],"real-time":[48],"visual":[49],"feedbackAuthor:":[50],"Please":[51],"check":[52],"confirm":[54],"whether":[55],"authors":[57],"affiliations":[58],"first":[61],"footnote":[62],"are":[63,73],"correct":[64],"as":[65],"set.":[66],"automatically.":[67],"proposed":[69,162],"parameterized":[70],"regression":[71],"features":[72],"used":[74],"construct":[76],"compact":[78],"(low-dimensional)":[79],"feature":[80],"vector":[81],"(B\u00e9zier":[82],"NURBS)":[84],"that":[85,117],"quantifies":[86],"object's":[88],"shape,":[89],"thus":[90],"enabling":[91],"establishment":[93],"explicit":[96],"servo-loop.":[98],"To":[99,159],"automatically":[100],"object":[103],"into":[104],"desired":[106],"configuration,":[107],"our":[108],"adaptive":[109],"controller":[110],"can":[111],"iteratively":[112],"estimate":[113],"sensorimotor":[115],"model":[116],"relates":[118],"robot's":[120],"motion":[121],"changes.":[124],"This":[125],"valuable":[126],"capability":[127],"enables":[128],"effective":[130],"deformation":[131],"with":[134,168],"unknown":[135],"mechanical":[136],"models.":[137],"An":[138],"auto-tuning":[139],"algorithm":[140],"is":[141,172],"introduced":[142],"adjust":[144],"controller's":[146],"gain":[147],"and,":[148],"thus,":[149],"modulate":[150],"shaping":[152],"motions":[153],"based":[154],"on":[155],"optimal":[156],"performance":[157],"criteria.":[158],"validate":[160],"framework,":[163],"detailed":[165],"experimental":[166],"study":[167],"vision-guided":[169],"robot":[170],"manipulators":[171],"presented.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-28T08:17:26.163206","created_date":"2025-10-10T00:00:00"}