{"id":"https://openalex.org/W2159752834","doi":"https://doi.org/10.1109/robot.2009.5152695","title":"Hand & eye-vergence dual visual servoing to enhance observability and stability","display_name":"Hand & eye-vergence dual visual servoing to enhance observability and stability","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2159752834","doi":"https://doi.org/10.1109/robot.2009.5152695","mag":"2159752834"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152695","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067090170","display_name":"Wei Song","orcid":"https://orcid.org/0000-0002-5909-9661"},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Wei Song","raw_affiliation_strings":["Department of Human and Artificial Intelligence Systems, Graduate School Of Engineering, University of Fukui, Fukui, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Human and Artificial Intelligence Systems, Graduate School Of Engineering, University of Fukui, Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110297810","display_name":"M. Minami","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Minami","raw_affiliation_strings":["Department of Human and Artificial Intelligence Systems, Graduate School Of Engineering, University of Fukui, Fukui, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Human and Artificial Intelligence Systems, Graduate School Of Engineering, University of Fukui, Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3139,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.83792988,"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":"714","last_page":"721"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"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":0.9998999834060669,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9940000176429749,"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":0.9335881471633911},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.8171977996826172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7624784708023071},{"id":"https://openalex.org/keywords/vergence","display_name":"Vergence (optics)","score":0.7253768444061279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6006276607513428},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.5362749695777893},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32937341928482056}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.9335881471633911},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8171977996826172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7624784708023071},{"id":"https://openalex.org/C88199966","wikidata":"https://www.wikidata.org/wiki/Q632617","display_name":"Vergence (optics)","level":2,"score":0.7253768444061279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6006276607513428},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.5362749695777893},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32937341928482056}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152695","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152695","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1571443838","https://openalex.org/W1639032689","https://openalex.org/W2013482689","https://openalex.org/W2042970582","https://openalex.org/W2100249329","https://openalex.org/W2119496650","https://openalex.org/W2122147410","https://openalex.org/W2122644660","https://openalex.org/W2136492961","https://openalex.org/W2143202769","https://openalex.org/W2167501464","https://openalex.org/W2168783993","https://openalex.org/W2171367852"],"related_works":["https://openalex.org/W2126852585","https://openalex.org/W2367086100","https://openalex.org/W2352270872","https://openalex.org/W1520171478","https://openalex.org/W2386520554","https://openalex.org/W4317830657","https://openalex.org/W2127866683","https://openalex.org/W3024380338","https://openalex.org/W4293869118","https://openalex.org/W2118183560"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,95,98],"new":[6,147],"two-way":[7],"visual":[8,16,68,74,91,127,153],"servoing":[9,75,92,128,154],"method,":[10],"named":[11],"as":[12],"hand":[13,124,160],"&":[14,125],"eye-vergence":[15,126],"servoing.":[17],"This":[18,66],"idea":[19,148],"stems":[20],"from":[21],"animal's":[22,67],"evolution":[23],"history,":[24],"predator":[25],"have":[26],"evolved":[27],"their":[28,38],"eye":[29,78],"positions":[30],"to":[31,41,47,50,55,60],"be":[32,48],"at":[33,43],"the":[34,44,53,58,61,117,123,141,146,150,157],"front":[35],"face":[36],"and":[37,76,101,113,156],"eyes":[39],"turn":[40],"gaze":[42],"target":[45,99,118],"prey":[46,62],"suited":[49],"triangulation,":[51],"enhancing":[52],"ability":[54],"measure":[56],"precisely":[57],"distance":[59],"for":[63,89,105,111],"catching":[64],"it.":[65],"tracking":[69],"includes":[70,83],"motion":[71,107],"control":[72],"by":[73],"triangular":[77],"vergence.":[79],"Our":[80],"proposed":[81],"method":[82],"two":[84],"loops:":[85],"an":[86,102],"outer":[87],"loop":[88,104],"conventional":[90],"that":[93],"direct":[94],"manipulator":[96],"toward":[97],"object":[100],"inner":[103],"active":[106],"of":[108,116,122,137,144,159],"binocular":[109],"camera":[110],"accurate":[112],"broad":[114],"observation":[115],"object.":[119],"The":[120],"effectiveness":[121],"is":[129],"evaluated":[130],"through":[131],"simulations":[132],"incorporated":[133],"with":[134],"actual":[135],"dynamics":[136,155],"7-DoF":[138],"robot":[139],"on":[140],"view":[142],"points":[143],"how":[145],"improved":[149],"stability":[151],"in":[152],"accuracy":[158],"pose.":[161]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}