{"id":"https://openalex.org/W2124432116","doi":"https://doi.org/10.1109/robot.2002.1014414","title":"Force control and visual servoing using planar surface identification","display_name":"Force control and visual servoing using planar surface identification","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2124432116","doi":"https://doi.org/10.1109/robot.2002.1014414","mag":"2124432116"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1014414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lup.lub.lu.se/record/537708","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108465718","display_name":"Tomas Olsson","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"T. Olsson","raw_affiliation_strings":["Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden","[Dept. of Autom. Control, Lund Inst. of Technol., Sweden]"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"[Dept. of Autom. Control, Lund Inst. of Technol., Sweden]","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056361091","display_name":"Johan Bengtsson","orcid":"https://orcid.org/0000-0002-9016-5858"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"J. Bengtsson","raw_affiliation_strings":["Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden","[Dept. of Autom. Control, Lund Inst. of Technol., Sweden]"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"[Dept. of Autom. Control, Lund Inst. of Technol., Sweden]","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084540714","display_name":"Rolf Johansson","orcid":"https://orcid.org/0000-0002-0786-8561"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"R. Johansson","raw_affiliation_strings":["Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden","[Dept. of Autom. Control, Lund Inst. of Technol., Sweden]"],"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, Lund Institute of Technology, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"[Dept. of Autom. Control, Lund Inst. of Technol., Sweden]","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073672662","display_name":"Henrik Malm","orcid":null},"institutions":[{"id":"https://openalex.org/I4210119692","display_name":"Numerical Method (China)","ror":"https://ror.org/02ns8zp42","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210119692"]},{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["CN","SE"],"is_corresponding":false,"raw_author_name":"H. Malm","raw_affiliation_strings":["Centre for Mathematical Sciences, Lund Institute of Technology, Lund University, Lund, Sweden","Mathematics (Faculty of Engineering) and Numerical Analysis"],"affiliations":[{"raw_affiliation_string":"Centre for Mathematical Sciences, Lund Institute of Technology, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]},{"raw_affiliation_string":"Mathematics (Faculty of Engineering) and Numerical Analysis","institution_ids":["https://openalex.org/I4210119692"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5108465718"],"corresponding_institution_ids":["https://openalex.org/I187531555"],"apc_list":null,"apc_paid":null,"fwci":2.1548,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.88305583,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"4","issue":null,"first_page":"4211","last_page":"4216"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9986000061035156,"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":0.9986000061035156,"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":0.9980000257492065,"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/T10638","display_name":"Optical measurement and interference techniques","score":0.9979000091552734,"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":0.9560758471488953},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7159661650657654},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6588137745857239},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6273244619369507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6243982315063477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5520159602165222},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5510908365249634},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5398555994033813},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5357145071029663},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5124149918556213},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4393087327480316},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4280169606208801},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3711341917514801},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17957338690757751},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17779582738876343},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.08281600475311279}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9560758471488953},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7159661650657654},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6588137745857239},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6273244619369507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6243982315063477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5520159602165222},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5510908365249634},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5398555994033813},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5357145071029663},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5124149918556213},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4393087327480316},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4280169606208801},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3711341917514801},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17957338690757751},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17779582738876343},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08281600475311279},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2002.1014414","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1014414","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.627.1585","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.627.1585","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://lup.lub.lu.se/luur/download?fileOId%3D625684%26func%3DdownloadFile%26recordOId%3D537708","raw_type":"text"},{"id":"pmh:oai:lup.lub.lu.se:b8d5188e-3c4e-48ff-b4b1-514ccf62f0a4","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/537708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:b8d5188e-3c4e-48ff-b4b1-514ccf62f0a4","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/537708","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1539960013","https://openalex.org/W1764835517","https://openalex.org/W1857285555","https://openalex.org/W1925420674","https://openalex.org/W1956314375","https://openalex.org/W2095614026","https://openalex.org/W2114714193","https://openalex.org/W2144091652","https://openalex.org/W2150382645","https://openalex.org/W2162848010","https://openalex.org/W2167501464","https://openalex.org/W6638813485"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2022959950"],"abstract_inverted_index":{"When":[0],"designing":[1],"flexible":[2],"multi-sensor":[3],"based":[4,59,70],"robot":[5,145],"systems,":[6],"one":[7],"important":[8],"problem":[9],"is":[10,69,92,132,169,180],"how":[11,103],"to":[12,123,153],"combine":[13],"the":[14,41,83,88,125,166,175,178],"measurements":[15],"from":[16,105],"disparate":[17],"sensors":[18],"such":[19],"as":[20,62],"cameras":[21],"and":[22,37,56,85,98,108,120,127,150],"force":[23,35,52,119,137,168],"sensors.":[24],"In":[25],"this":[26],"paper,":[27],"we":[28],"present":[29],"a":[30,51,57,63,72,106,148,157,163],"method":[31,112,131,179],"for":[32,79],"combining":[33],"direct":[34],"control":[36,48,54],"visual":[38,75,99],"servoing":[39,76],"in":[40,116],"presence":[42],"of":[43,87,159,177],"unknown":[44,142],"planar":[45,89],"surfaces.":[46],"The":[47,66,130,144],"algorithm":[49,77],"involves":[50],"feedback":[53],"loop":[55],"vision":[58,67],"reference":[60,128],"trajectory":[61],"feed-forward":[64],"signal.":[65],"system":[68],"on":[71,140,162],"constrained":[73],"image-based":[74],"designed":[78],"surface":[80,91],"following,":[81],"where":[82],"location":[84],"orientation":[86],"constraint":[90],"estimated":[93],"online":[94],"using":[95],"position-,":[96],"force-":[97],"data.":[100],"We":[101],"show":[102],"data":[104,122],"simple":[107],"efficient":[109],"camera":[110],"calibration":[111],"can":[113],"be":[114],"used":[115],"combination":[117],"with":[118],"position":[121],"improve":[124],"estimation":[126],"trajectories.":[129],"validated":[133],"through":[134],"experiments":[135],"involving":[136],"controlled":[138],"drawing":[139],"an":[141],"surface.":[143],"will":[146],"grasp":[147],"pen":[149],"use":[151],"it":[152],"draw":[154],"lines":[155],"between":[156],"number":[158],"markers":[160],"drawn":[161],"white-board,":[164],"while":[165],"contact":[167],"kept":[170],"constant.":[171],"Despite":[172],"its":[173],"simplicity,":[174],"performance":[176],"satisfactory.":[181]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
