{"id":"https://openalex.org/W2151941365","doi":"https://doi.org/10.1109/robot.2009.5152417","title":"Task-space setpoint control of robots with dual task-space information","display_name":"Task-space setpoint control of robots with dual task-space information","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2151941365","doi":"https://doi.org/10.1109/robot.2009.5152417","mag":"2151941365"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/53750","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080753188","display_name":"Chien Chern Cheah","orcid":"https://orcid.org/0000-0003-3728-9277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"C.C. Cheah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques Slotine","orcid":"https://orcid.org/0000-0002-7161-7812"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Slotine","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5080753188"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.6403,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.86477387,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"3706","last_page":"3711"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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":0.9991000294685364,"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/T11992","display_name":"CCD and CMOS Imaging Sensors","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T13114","display_name":"Image Processing Techniques and Applications","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/computer-science","display_name":"Computer science","score":0.6681147813796997},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.659480094909668},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.548555850982666},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4976995289325714},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4785783290863037},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4720239043235779},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46423831582069397},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.4514941871166229},{"id":"https://openalex.org/keywords/visual-space","display_name":"Visual space","score":0.4343387484550476},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4337612986564636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09572267532348633},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.07863914966583252}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6681147813796997},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.659480094909668},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.548555850982666},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4976995289325714},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4785783290863037},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4720239043235779},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46423831582069397},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.4514941871166229},{"id":"https://openalex.org/C207363949","wikidata":"https://www.wikidata.org/wiki/Q462915","display_name":"Visual space","level":3,"score":0.4343387484550476},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4337612986564636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09572267532348633},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.07863914966583252},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2009.5152417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/53750","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/53750","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/53750","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/53750","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W1487127700","https://openalex.org/W1558111554","https://openalex.org/W1575037797","https://openalex.org/W1978595173","https://openalex.org/W1994732751","https://openalex.org/W2012846438","https://openalex.org/W2014841100","https://openalex.org/W2033850389","https://openalex.org/W2048603489","https://openalex.org/W2098050284","https://openalex.org/W2133668221","https://openalex.org/W2139121338","https://openalex.org/W2153324618","https://openalex.org/W2153818557","https://openalex.org/W2161505441","https://openalex.org/W2163898612","https://openalex.org/W2167501464","https://openalex.org/W2171950499","https://openalex.org/W2172159805","https://openalex.org/W2280888395","https://openalex.org/W4248304976","https://openalex.org/W4285719527","https://openalex.org/W6633444858","https://openalex.org/W6694766787"],"related_works":["https://openalex.org/W1495927848","https://openalex.org/W4205962020","https://openalex.org/W2620138946","https://openalex.org/W1527771352","https://openalex.org/W90946887","https://openalex.org/W191702426","https://openalex.org/W4255293822","https://openalex.org/W2994131054","https://openalex.org/W2183995771","https://openalex.org/W2559264007"],"abstract_inverted_index":{"In":[0,121],"conventional":[1],"task-space":[2,9,19,128,137,149],"control":[3,20,129],"problem":[4,21],"of":[5,49,86,88,114,119,135],"robots,":[6],"a":[7,126,140],"single":[8,141],"information":[10,70,138],"is":[11,22,32,40,54,61,92,117,171],"used":[12,33,102],"for":[13,78,103],"the":[14,18,35,44,51,74,89,104,108,115,133,147,158,165,169],"entire":[15,105],"task.":[16,106],"When":[17],"formulated":[23],"in":[24,47,68,139],"image":[25],"space,":[26],"this":[27,122],"implies":[28],"that":[29,97,131,146],"visual":[30,38,59,69,75,98],"feedback":[31,39,60,76,99,156,163],"throughout":[34],"movement.":[36],"While":[37],"important":[41],"to":[42,83,95,161],"improve":[43],"endpoint":[45],"accuracy":[46],"presence":[48],"uncertainty,":[50],"initial":[52,80,159],"movement":[53],"primarily":[55],"ballistic":[56],"and":[57],"hence":[58],"not":[62],"necessary.":[63],"The":[64],"relatively":[65],"large":[66],"delay":[67],"would":[71],"also":[72,93],"make":[73],"ineffective":[77],"fast":[79],"movements.":[81],"Due":[82],"limited":[84],"field":[85],"view":[87],"camera,":[90],"it":[91],"difficult":[94],"easure":[96],"can":[100,151],"be":[101],"Therefore,":[107],"task":[109],"may":[110],"fail":[111],"if":[112],"any":[113],"features":[116],"out":[118],"view.":[120],"paper,":[123],"we":[124],"present":[125],"new":[127],"strategy":[130],"allows":[132],"use":[134],"dual":[136],"controller.":[142],"We":[143],"shall":[144],"show":[145],"proposed":[148],"controller":[150],"transit":[152],"smoothly":[153],"from":[154],"Cartesian-space":[155],"at":[157,164],"stage":[160,167],"vision-space":[162],"end":[166],"when":[168],"target":[170],"near.":[172]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}