{"id":"https://openalex.org/W1620973647","doi":"https://doi.org/10.1109/sysose.2006.1652287","title":"Vision-guided self-alignment and manipulation in a walking robot","display_name":"Vision-guided self-alignment and manipulation in a walking robot","publication_year":2006,"publication_date":"2006-07-21","ids":{"openalex":"https://openalex.org/W1620973647","doi":"https://doi.org/10.1109/sysose.2006.1652287","mag":"1620973647"},"language":"en","primary_location":{"id":"doi:10.1109/sysose.2006.1652287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sysose.2006.1652287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/SMC International Conference on System of Systems Engineering","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/A5056375573","display_name":"Kevin Nickels","orcid":"https://orcid.org/0000-0001-9712-9983"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I60060512","display_name":"Trinity University","ror":"https://ror.org/00t8gz605","country_code":"US","type":"education","lineage":["https://openalex.org/I60060512"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Nickels","raw_affiliation_strings":["Department of Engineering Science, Trinity University, San Antonio, TX, USA","Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science, Trinity University, San Antonio, TX, USA","institution_ids":["https://openalex.org/I60060512"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039717823","display_name":"Brook S. Kennedy","orcid":"https://orcid.org/0000-0002-1791-7822"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Kennedy","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006491762","display_name":"Hrand Aghazarian","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Aghazarian","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061017560","display_name":"C.L. Collins","orcid":"https://orcid.org/0000-0001-8879-0411"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Collins","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097400769","display_name":"M. Garett","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Garett","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113179054","display_name":"A. Okon","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Okon","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041082634","display_name":"Julie Townsend","orcid":"https://orcid.org/0000-0002-4589-8665"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Townsend","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":39.4525,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.99246026,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"137","last_page":"142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7011614441871643},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6200574040412903},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.5700908303260803},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.567011296749115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5550946593284607},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44756191968917847},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42995545268058777},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.41088438034057617},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4003225564956665},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.390827476978302},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38706523180007935},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32304883003234863}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7011614441871643},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6200574040412903},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.5700908303260803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.567011296749115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5550946593284607},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44756191968917847},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42995545268058777},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.41088438034057617},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4003225564956665},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.390827476978302},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38706523180007935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32304883003234863},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sysose.2006.1652287","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sysose.2006.1652287","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/SMC International Conference on System of Systems Engineering","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.160.9759","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.160.9759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.trinity.edu/~knickels/pubs/Nic-sose06.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332379","display_name":"Johnson Space Center","ror":"https://ror.org/04xx4z452"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W32407626","https://openalex.org/W790998201","https://openalex.org/W1563220567","https://openalex.org/W1568235533","https://openalex.org/W1941648300","https://openalex.org/W2045430031","https://openalex.org/W2121367199","https://openalex.org/W2154342556","https://openalex.org/W2402652894","https://openalex.org/W6622823712","https://openalex.org/W6712875393"],"related_works":["https://openalex.org/W2378005410","https://openalex.org/W8302103","https://openalex.org/W2170435352","https://openalex.org/W2048876619","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2402852349"],"abstract_inverted_index":{"One":[0],"of":[1,23],"the":[2,7,14,24,39,43,56,66,75,79,108],"robots":[3],"under":[4],"development":[5],"at":[6],"NASAs":[8],"Jet":[9],"Propulsion":[10],"Laboratory":[11],"(JPL)":[12],"is":[13],"limbed":[15],"excursion":[16],"mechanical":[17],"utility":[18],"robot,":[19,44],"or":[20],"LEMUR.":[21],"Several":[22],"tasks":[25,86],"slated":[26],"for":[27,82],"this":[28],"robot":[29,109],"require":[30],"computer":[31],"vision,":[32],"as":[33,46,63,65],"a":[34,91,97,103,112],"system,":[35],"to":[36,71],"interface":[37],"with":[38,107,111],"other":[40],"systems":[41],"in":[42,60,96],"such":[45],"walking,":[47],"body":[48],"pose":[49],"adjustment,":[50],"and":[51,78,100],"manipulation.":[52,83],"This":[53],"paper":[54],"describes":[55],"vision":[57,76],"algorithms":[58,69],"used":[59,81],"several":[61],"tasks,":[62],"well":[64],"vision-guided":[67,104],"manipulation":[68],"developed":[70],"mitigate":[72],"mismatches":[73],"between":[74],"system":[77],"limbs":[80],"Two":[84],"system-level":[85],"are":[87],"described,":[88],"one":[89,101],"involving":[90,102],"two":[92],"meter":[93],"walk":[94],"culminating":[95],"bolt-fastening":[98],"task":[99],"alignment":[105],"ending":[106],"mating":[110],"docking":[113],"station":[114]},"counts_by_year":[{"year":2020,"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"}
