{"id":"https://openalex.org/W2968338113","doi":"https://doi.org/10.1007/978-3-030-32254-0_21","title":"Learning to Detect Collisions for Continuum Manipulators Without a Prior Model","display_name":"Learning to Detect Collisions for Continuum Manipulators Without a Prior Model","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2968338113","doi":"https://doi.org/10.1007/978-3-030-32254-0_21","mag":"2968338113"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-32254-0_21","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-32254-0_21","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.04354","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053432212","display_name":"Shahriar Sefati","orcid":"https://orcid.org/0000-0003-1989-3796"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2800752714","display_name":"Comcast (United States)","ror":"https://ror.org/00sgxyw28","country_code":"US","type":"company","lineage":["https://openalex.org/I2800752714"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shahriar Sefati","raw_affiliation_strings":["Comcast Applied AI Research, Comcast, Washington D.C., 20005, USA","Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","Johns Hopkins University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Comcast Applied AI Research, Comcast, Washington D.C., 20005, USA","institution_ids":["https://openalex.org/I2800752714"]},{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016004907","display_name":"Shahin Sefati","orcid":"https://orcid.org/0009-0003-4977-2298"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2800752714","display_name":"Comcast (United States)","ror":"https://ror.org/00sgxyw28","country_code":"US","type":"company","lineage":["https://openalex.org/I2800752714"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shahin Sefati","raw_affiliation_strings":["Comcast Applied AI Research, Comcast, Washington D.C., 20005, USA","Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","Johns Hopkins University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Comcast Applied AI Research, Comcast, Washington D.C., 20005, USA","institution_ids":["https://openalex.org/I2800752714"]},{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063913520","display_name":"Iulian Iordachita","orcid":"https://orcid.org/0000-0002-2510-9008"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Iulian Iordachita","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","Johns Hopkins University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Johns Hopkins University","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004170925","display_name":"Russell H. Taylor","orcid":"https://orcid.org/0000-0001-6272-1100"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russell H. Taylor","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090301235","display_name":"Mehran Armand","orcid":"https://orcid.org/0000-0003-1028-8303"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mehran Armand","raw_affiliation_strings":["Johns Hopkins University Applied Physics Laboratory, Laurel, 20723, USA","Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","APPLIED PHYSICS LABORATORY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University Applied Physics Laboratory, Laurel, 20723, USA","institution_ids":["https://openalex.org/I2802946424"]},{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, 21218, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"APPLIED PHYSICS LABORATORY","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"182","last_page":"190"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"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":0.9994000196456909,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9753999710083008,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9354000091552734,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/curvature","display_name":"Curvature","score":0.648218035697937},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6374692916870117},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6370120644569397},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.6349667310714722},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5867571234703064},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5163766145706177},{"id":"https://openalex.org/keywords/constant-curvature","display_name":"Constant curvature","score":0.4979376792907715},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4835205078125},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4726088345050812},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.45601963996887207},{"id":"https://openalex.org/keywords/fiber-bragg-grating","display_name":"Fiber Bragg grating","score":0.45370054244995117},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45171689987182617},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.3913627862930298},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3885725140571594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3802538514137268},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36542704701423645},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36345425248146057},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35391414165496826},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21765175461769104},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21574777364730835},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19767078757286072},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1524713933467865},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14649906754493713},{"id":"https://openalex.org/keywords/optical-fiber","display_name":"Optical fiber","score":0.14074864983558655},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11784288287162781},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11480402946472168}],"concepts":[{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.648218035697937},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6374692916870117},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6370120644569397},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.6349667310714722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5867571234703064},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5163766145706177},{"id":"https://openalex.org/C2779668893","wikidata":"https://www.wikidata.org/wiki/Q2250422","display_name":"Constant curvature","level":3,"score":0.4979376792907715},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4835205078125},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4726088345050812},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.45601963996887207},{"id":"https://openalex.org/C43091971","wikidata":"https://www.wikidata.org/wiki/Q1397391","display_name":"Fiber Bragg grating","level":3,"score":0.45370054244995117},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45171689987182617},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.3913627862930298},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3885725140571594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3802538514137268},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36542704701423645},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36345425248146057},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35391414165496826},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21765175461769104},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21574777364730835},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19767078757286072},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1524713933467865},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14649906754493713},{"id":"https://openalex.org/C194232370","wikidata":"https://www.wikidata.org/wiki/Q162","display_name":"Optical fiber","level":2,"score":0.14074864983558655},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11784288287162781},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11480402946472168},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/978-3-030-32254-0_21","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-32254-0_21","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:arXiv.org:1908.04354","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.04354","pdf_url":"https://arxiv.org/pdf/1908.04354","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.1908.04354","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1908.04354","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"mag:2968338113","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.04354","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.04354","pdf_url":"https://arxiv.org/pdf/1908.04354","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1678356000","https://openalex.org/W2002367490","https://openalex.org/W2010694126","https://openalex.org/W2020409524","https://openalex.org/W2071355008","https://openalex.org/W2101234009","https://openalex.org/W2142828858","https://openalex.org/W2184993170","https://openalex.org/W2295380675","https://openalex.org/W2544641369","https://openalex.org/W2573702495","https://openalex.org/W2781943233","https://openalex.org/W2892230934","https://openalex.org/W2904579232","https://openalex.org/W2912609531","https://openalex.org/W2914463060","https://openalex.org/W2921939378","https://openalex.org/W2963037044","https://openalex.org/W2964128428","https://openalex.org/W6675354045"],"related_works":["https://openalex.org/W2164891910","https://openalex.org/W3134608760","https://openalex.org/W3004361169","https://openalex.org/W3201888763","https://openalex.org/W2908470874","https://openalex.org/W2738873657","https://openalex.org/W1185857442","https://openalex.org/W1561596441","https://openalex.org/W2160891167","https://openalex.org/W2899975947","https://openalex.org/W332749456","https://openalex.org/W2909577451","https://openalex.org/W2322009139","https://openalex.org/W2320234922","https://openalex.org/W3132728277","https://openalex.org/W2614508491","https://openalex.org/W2338205278","https://openalex.org/W3157943511","https://openalex.org/W3020946384","https://openalex.org/W2423909138"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}