{"id":"https://openalex.org/W4408222639","doi":"https://doi.org/10.1109/robio64047.2024.10907755","title":"Three-dimensional Morphological Reconstruction of Millimeter-Scale Soft Continuum Robots based on Dual-Stereo-Vision","display_name":"Three-dimensional Morphological Reconstruction of Millimeter-Scale Soft Continuum Robots based on Dual-Stereo-Vision","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408222639","doi":"https://doi.org/10.1109/robio64047.2024.10907755"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5103232216","display_name":"Tian-Ao Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tian-Ao Ren","raw_affiliation_strings":["Stanford University,Department of Mechanical Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Department of Mechanical Engineering,CA,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073117088","display_name":"Wenyan Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenyan Liu","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375832","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0002-7192-5153"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070439966","display_name":"Lei Zhao","orcid":"https://orcid.org/0000-0002-5123-9279"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Zhao","raw_affiliation_strings":["College of Computer Science and Electronic Engineering, Hunan University,Changsha,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Electronic Engineering, Hunan University,Changsha,China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113416875","display_name":"Jiewen Lai","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jiewen Lai","raw_affiliation_strings":["The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Chinese University of Hong Kong,Department of Electronic Engineering,Shatin, NT, Hong Kong,China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1628,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4960432,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"953","last_page":"958"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.968999981880188,"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":0.968999981880188,"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/millimeter","display_name":"Millimeter","score":0.6110735535621643},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6086680889129639},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5826786756515503},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5500687956809998},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5019595623016357},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49088913202285767},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.48773226141929626},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.41426002979278564},{"id":"https://openalex.org/keywords/stereopsis","display_name":"Stereopsis","score":0.4110940098762512},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.30144017934799194},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.26930534839630127},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.11146107316017151}],"concepts":[{"id":"https://openalex.org/C109792285","wikidata":"https://www.wikidata.org/wiki/Q174789","display_name":"Millimeter","level":2,"score":0.6110735535621643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6086680889129639},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5826786756515503},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5500687956809998},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5019595623016357},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49088913202285767},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.48773226141929626},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.41426002979278564},{"id":"https://openalex.org/C68537008","wikidata":"https://www.wikidata.org/wiki/Q247932","display_name":"Stereopsis","level":2,"score":0.4110940098762512},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.30144017934799194},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.26930534839630127},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.11146107316017151},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W570499549","https://openalex.org/W1573360953","https://openalex.org/W2009422376","https://openalex.org/W2049981393","https://openalex.org/W2086504823","https://openalex.org/W2119851068","https://openalex.org/W2152864241","https://openalex.org/W2165558283","https://openalex.org/W2167667767","https://openalex.org/W2576246534","https://openalex.org/W2586915453","https://openalex.org/W2769591697","https://openalex.org/W2792360281","https://openalex.org/W3047693789","https://openalex.org/W3134077214","https://openalex.org/W3136827180","https://openalex.org/W3176339485","https://openalex.org/W4210478179","https://openalex.org/W4226460496","https://openalex.org/W4285085664","https://openalex.org/W4306632919","https://openalex.org/W4310009527","https://openalex.org/W4382999276","https://openalex.org/W4385476004","https://openalex.org/W4390748660","https://openalex.org/W4396967528","https://openalex.org/W4400228854","https://openalex.org/W4400309234","https://openalex.org/W6652231383"],"related_works":["https://openalex.org/W2093740263","https://openalex.org/W2020840055","https://openalex.org/W4243014171","https://openalex.org/W2015282294","https://openalex.org/W2067149576","https://openalex.org/W3198390543","https://openalex.org/W1654169274","https://openalex.org/W3104557427","https://openalex.org/W2103525286","https://openalex.org/W2166983178"],"abstract_inverted_index":{"Continuum":[0],"robots":[1,17,181],"can":[2,50],"be":[3],"miniaturized":[4],"to":[5,90,110],"just":[6],"a":[7,46,68,103,118,139],"few":[8],"millimeters":[9],"in":[10,22,28,40,117],"diameter.":[11],"Among":[12],"these,":[13],"notched":[14],"tubular":[15],"continuum":[16,56,63],"(NTCR)":[18],"show":[19],"great":[20],"potential":[21],"many":[23],"delicate":[24],"applications.":[25],"Existing":[26],"works":[27],"robotic":[29],"modeling":[30],"focus":[31],"on":[32],"kinematics":[33],"and":[34],"dynamics":[35],"but":[36],"still":[37],"face":[38],"challenges":[39],"reproducing":[41],"the":[42,52,74,92,96,106,112,123,151,156,162,172],"robot's":[43],"morphology":[44],"-":[45],"significant":[47],"factor":[48],"that":[49],"expand":[51],"research":[53],"landscape":[54],"of":[55,78,95,146,158,164,178],"robots,":[57],"especially":[58],"for":[59,73,105,135,174,182],"those":[60],"with":[61,138,150],"asymmetric":[62],"structures.":[64],"This":[65],"paper":[66],"proposes":[67],"dual":[69],"stereo":[70],"vision-based":[71],"method":[72,82,109,130,170],"three-dimensional":[75],"morphological":[76,166,176],"reconstruction":[77,177],"millimeter-scale":[79,179],"NTCRs.":[80],"The":[81,129],"employs":[83],"two":[84],"oppositely":[85],"located":[86],"stationary":[87],"binocular":[88],"cameras":[89],"capture":[91,113],"point":[93,114,126],"cloud":[94,127],"NTCR,":[97],"then":[98],"utilizes":[99],"predefined":[100],"geometry":[101],"as":[102],"reference":[104],"KD":[107],"tree":[108],"relocate":[111],"clouds,":[115],"resulting":[116],"morphologically":[119],"correct":[120],"NTCR":[121,137],"despite":[122],"low-quality":[124],"raw":[125],"collection.":[128],"has":[131],"been":[132],"proved":[133],"feasible":[134],"an":[136],"3.5":[140],"mm":[141],"diameter,":[142],"capturing":[143],"14":[144],"out":[145],"16":[147],"notch":[148],"features,":[149],"measurements":[152],"generally":[153],"centered":[154],"around":[155],"standard":[157],"1.5":[159],"mm,":[160],"demonstrating":[161],"capability":[163],"revealing":[165],"details.":[167],"Our":[168],"proposed":[169],"paves":[171],"way":[173],"3D":[175],"soft":[180],"further":[183],"self-modeling":[184],"study.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
