{"id":"https://openalex.org/W4400716400","doi":"https://doi.org/10.1109/lra.2026.3653374","title":"Virtual-Force Based Visual Servo for Multiple Peg-in-Hole Assembly With Tightly Coupled Multi-Manipulator","display_name":"Virtual-Force Based Visual Servo for Multiple Peg-in-Hole Assembly With Tightly Coupled Multi-Manipulator","publication_year":2026,"publication_date":"2026-01-12","ids":{"openalex":"https://openalex.org/W4400716400","doi":"https://doi.org/10.1109/lra.2026.3653374"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2026.3653374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653374","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2407.10570","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jiawei Zhang","orcid":"https://orcid.org/0000-0002-5904-0360"},"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":"Jiawei Zhang","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-5904-0360","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073181963","display_name":"Chengchao Bai","orcid":"https://orcid.org/0000-0002-0349-9869"},"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":"Chengchao Bai","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-0349-9869","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wei Pan","orcid":"https://orcid.org/0000-0003-1121-9879"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]},{"id":"https://openalex.org/I87253917","display_name":"Manchester University","ror":"https://ror.org/02aswte26","country_code":"US","type":"education","lineage":["https://openalex.org/I87253917"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Wei Pan","raw_affiliation_strings":["The Univeristy of Manchester, Manchester, U.K"],"raw_orcid":"https://orcid.org/0000-0003-1121-9879","affiliations":[{"raw_affiliation_string":"The Univeristy of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311","https://openalex.org/I87253917"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jifeng Guo","orcid":"https://orcid.org/0000-0003-2840-9820"},"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":"Jifeng Guo","raw_affiliation_strings":["Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2840-9820","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.1225,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.94525207,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"11","issue":"3","first_page":"2586","last_page":"2593"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9958000183105469,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9940999746322632,"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/servo","display_name":"Servo","score":0.7169339060783386},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.637924075126648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5416654944419861},{"id":"https://openalex.org/keywords/peg-ratio","display_name":"PEG ratio","score":0.5090510249137878},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39240026473999023},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15470954775810242},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.053879886865615845}],"concepts":[{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.7169339060783386},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.637924075126648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5416654944419861},{"id":"https://openalex.org/C54400483","wikidata":"https://www.wikidata.org/wiki/Q1793202","display_name":"PEG ratio","level":2,"score":0.5090510249137878},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39240026473999023},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15470954775810242},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.053879886865615845},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2026.3653374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653374","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:2407.10570","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.10570","pdf_url":"https://arxiv.org/pdf/2407.10570","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":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2407.10570","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2407.10570","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2407.10570","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2407.10570","pdf_url":"https://arxiv.org/pdf/2407.10570","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2318984272","display_name":null,"funder_award_id":"92371111","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6665774762","display_name":null,"funder_award_id":"2021QNRC001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8870998808","display_name":null,"funder_award_id":"YQ2022F012","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null},{"id":"https://openalex.org/F4320335577","display_name":"Major Research Plan","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400716400.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2064730869","https://openalex.org/W2316170482","https://openalex.org/W2319863398","https://openalex.org/W2021543137","https://openalex.org/W2332336499","https://openalex.org/W2905102299","https://openalex.org/W4307578144","https://openalex.org/W2537875094"],"abstract_inverted_index":{"Multiple":[0],"Peg-in-Hole":[1],"(MPiH)":[2],"assembly":[3],"is":[4,21],"one":[5],"of":[6,64,89,110,131,145,155,162,178,208],"the":[7,14,60,87,90,95,105,108,111,116,128,142,146,160,163,166,176,179,190],"fundamental":[8],"tasks":[9,16,43,204],"in":[10,94,115,200],"robotic":[11],"assembly.":[12],"In":[13],"MPiH":[15,42],"for":[17,23],"large-size":[18],"parts,":[19],"it":[20],"challenging":[22],"a":[24,51,74,80,124,206],"single":[25],"manipulator":[26,66],"to":[27,67,126,153,213],"simultaneously":[28],"align":[29],"multiple":[30,47,132],"distant":[31],"pegs":[32],"and":[33,79,92,102,113,183],"holes,":[34,180],"necessitating":[35],"tightly":[36,45],"coupled":[37,46],"multi-manipulator":[38,147],"systems.":[39],"For":[40],"such":[41],"using":[44,134],"manipulators,":[48],"we":[49,72,122,158],"propose":[50,123],"collaborative":[52],"visual":[53,129],"servo":[54],"control":[55],"framework":[56],"that":[57,173,193],"uses":[58],"only":[59],"monocular":[61],"in-hand":[62],"cameras":[63],"each":[65],"reduce":[68],"positioning":[69,81,184],"errors.":[70,216],"Initially,":[71],"train":[73],"state":[75],"classification":[76,181],"neural":[77,82],"network":[78],"network.":[83],"The":[84,170],"former":[85],"divides":[86],"states":[88],"peg":[91,112],"hole":[93,114],"image":[96],"into":[97],"three":[98],"categories:":[99],"obscured,":[100],"separated,":[101],"overlapped,":[103],"while":[104,211],"latter":[106],"determines":[107],"position":[109],"image.":[117],"Based":[118],"on":[119],"these":[120],"findings,":[121],"method":[125,195],"integrate":[127],"features":[130],"manipulators":[133],"virtual":[135],"forces,":[136],"which":[137],"can":[138,186],"naturally":[139],"combine":[140],"with":[141,205],"cooperative":[143],"controller":[144],"system.":[148],"To":[149],"generalize":[150],"our":[151,194],"approach":[152],"holes":[154,164],"different":[156],"appearances,":[157],"varied":[159],"appearance":[161,177],"during":[165],"dataset":[167],"generation":[168],"process.":[169],"results":[171,191],"confirm":[172],"by":[174],"considering":[175],"accuracy":[182],"precision":[185],"be":[187],"improved.":[188],"Finally,":[189],"show":[192],"achieves":[196],"100%":[197],"success":[198],"rate":[199],"dual-manipulator":[201],"dual":[202],"peg-in-hole":[203],"clearance":[207],"0.2":[209],"mm,":[210],"robust":[212],"camera":[214],"calibration":[215]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2024-07-17T00:00:00"}
