{"id":"https://openalex.org/W2051404545","doi":"https://doi.org/10.1109/robio.2013.6739667","title":"Hand-eye servo and flexible control of an anthropomorphic arm","display_name":"Hand-eye servo and flexible control of an anthropomorphic arm","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2051404545","doi":"https://doi.org/10.1109/robio.2013.6739667","mag":"2051404545"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5111847058","display_name":"Gan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gan Ma","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100293910","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0001-6934-5347"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048381186","display_name":"Libo Meng","orcid":"https://orcid.org/0000-0001-9980-3054"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Meng","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085846849","display_name":"Malik Saad Sultan","orcid":"https://orcid.org/0000-0003-1951-5023"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Malik Saad Sultan","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100444409","display_name":"Wen Zhang","orcid":"https://orcid.org/0000-0002-8934-3346"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Zhang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026969543","display_name":"Yan Liu","orcid":"https://orcid.org/0000-0002-0846-9327"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Liu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5111847058"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.505,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72629883,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1432","last_page":"1437"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9976000189781189,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7723662257194519},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.7044796943664551},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6774806976318359},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6428300142288208},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6109449863433838},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5903980135917664},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.5426878929138184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5394225120544434},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.537330150604248},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49613842368125916},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4882781505584717},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.47373807430267334},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.455658882856369},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4204515814781189},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4196927845478058},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18746629357337952}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7723662257194519},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.7044796943664551},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6774806976318359},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6428300142288208},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6109449863433838},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5903980135917664},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.5426878929138184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5394225120544434},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.537330150604248},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49613842368125916},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4882781505584717},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.47373807430267334},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.455658882856369},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4204515814781189},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4196927845478058},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18746629357337952},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739667","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739667","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1508960934","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1986029121","https://openalex.org/W1990777642","https://openalex.org/W2010788624","https://openalex.org/W2082991751","https://openalex.org/W2092199022","https://openalex.org/W2100377502","https://openalex.org/W2106176233","https://openalex.org/W2109363336","https://openalex.org/W2133211499","https://openalex.org/W2141967387","https://openalex.org/W2143046752","https://openalex.org/W2167501464","https://openalex.org/W2171809877","https://openalex.org/W2545828032","https://openalex.org/W6729193246"],"related_works":["https://openalex.org/W3034003528","https://openalex.org/W4236881204","https://openalex.org/W2281711232","https://openalex.org/W3191493856","https://openalex.org/W2006540188","https://openalex.org/W2367220495","https://openalex.org/W2059740384","https://openalex.org/W1984186897","https://openalex.org/W891366759","https://openalex.org/W2229463931"],"abstract_inverted_index":{"One":[0],"key":[1],"technology":[2],"for":[3,46],"a":[4],"humanoid":[5,107],"robot":[6,19],"is":[7,51,67,85],"to":[8,53,68,87],"sense":[9],"the":[10,15,18,30,55,58,65,71,78,89,92,95,98],"environment":[11],"accurately":[12],"and":[13,27],"control":[14,33,54,62,83],"movement":[16,56],"of":[17,34,57,64,91,97],"in":[20],"realtime.":[21],"This":[22],"paper":[23],"addresses":[24],"this":[25],"problem":[26],"focuses":[28],"on":[29,77,105],"visual":[31,43,49],"servoing":[32],"an":[35,47],"anthropomorphic":[36,59],"robotic":[37,108],"arm.":[38,60,93],"A":[39],"high":[40],"precision,":[41],"image-based":[42],"servo":[44],"algorithm":[45],"eye-in-hand":[48],"system":[50],"proposed":[52,99],"The":[61],"objective":[63],"controller":[66],"lock":[69],"all":[70],"feature":[72],"points":[73,76],"at":[74],"fixed":[75],"image":[79],"plane.":[80],"Then,":[81],"impedance":[82],"law":[84],"implemented":[86],"keep":[88],"flexible":[90],"Finally,":[94],"effectiveness":[96],"methods":[100],"are":[101],"verified":[102],"by":[103],"experiments":[104],"our":[106],"arm":[109],"platform.":[110]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
