{"id":"https://openalex.org/W1995882721","doi":"https://doi.org/10.1017/s0263574713001100","title":"A non-overconstrained variant of the Agile Eye with a special decoupled kinematics","display_name":"A non-overconstrained variant of the Agile Eye with a special decoupled kinematics","publication_year":2013,"publication_date":"2013-12-05","ids":{"openalex":"https://openalex.org/W1995882721","doi":"https://doi.org/10.1017/s0263574713001100","mag":"1995882721"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713001100","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713001100","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-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/A5030283919","display_name":"Chin\u2010Hsing Kuo","orcid":"https://orcid.org/0000-0003-2871-4411"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Chin-Hsing Kuo","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan","\u2020Department of Mechanical Engineering,National Taiwan University of Science and Technology,Taipei 106,Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"\u2020Department of Mechanical Engineering,National Taiwan University of Science and Technology,Taipei 106,Taiwan","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I124357947","display_name":"University of London","ror":"https://ror.org/04cw6st05","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947"]},{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Centre for Robotics Research, King's College London, University of London, London WC2R 2LS, UK","\u2021Centre for Robotics Research,King's College London,University of London,London WC2R 2LS,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King's College London, University of London, London WC2R 2LS, UK","institution_ids":["https://openalex.org/I183935753","https://openalex.org/I45129253","https://openalex.org/I124357947"]},{"raw_affiliation_string":"\u2021Centre for Robotics Research,King's College London,University of London,London WC2R 2LS,UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028396070","display_name":"Giovanni Legnani","orcid":"https://orcid.org/0000-0002-2700-5093"},"institutions":[{"id":"https://openalex.org/I79940851","display_name":"University of Brescia","ror":"https://ror.org/02q2d2610","country_code":"IT","type":"education","lineage":["https://openalex.org/I79940851"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giovanni Legnani","raw_affiliation_strings":["Dip. Ingegneria Meccanica e Industriale, Universit\u00e0 di Brescia, 25123 Brescia, Italy","\u00a7Dip. Ingegneria Meccanica e Industriale,Universit\u00e0 di Brescia,25123 Brescia,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dip. Ingegneria Meccanica e Industriale, Universit\u00e0 di Brescia, 25123 Brescia, Italy","institution_ids":["https://openalex.org/I79940851"]},{"raw_affiliation_string":"\u00a7Dip. Ingegneria Meccanica e Industriale,Universit\u00e0 di Brescia,25123 Brescia,Italy","institution_ids":["https://openalex.org/I79940851"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5030283919"],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":null,"apc_paid":null,"fwci":1.5052,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.84250778,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"32","issue":"6","first_page":"889","last_page":"905"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9983000159263611,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9879999756813049,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.9679964780807495},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6677617430686951},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6322131752967834},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5149944424629211},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.49758532643318176},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4301777482032776},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.414222776889801},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3757407069206238},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.373309850692749},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.35314100980758667},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2869674861431122},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.25305312871932983},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21255427598953247},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21087247133255005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20198380947113037},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1332518756389618},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12234029173851013}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.9679964780807495},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6677617430686951},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6322131752967834},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5149944424629211},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.49758532643318176},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4301777482032776},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.414222776889801},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3757407069206238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.373309850692749},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.35314100980758667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2869674861431122},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.25305312871932983},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21255427598953247},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21087247133255005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20198380947113037},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1332518756389618},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12234029173851013},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1017/s0263574713001100","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713001100","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:iris.unibs.it:11379/251704","is_oa":false,"landing_page_url":"http://hdl.handle.net/11379/251704","pdf_url":null,"source":{"id":"https://openalex.org/S4306400804","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Brescia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66752286","host_organization_name":"University of Milano-Bicocca","host_organization_lineage":["https://openalex.org/I66752286"],"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":"info:eu-repo/semantics/article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/1fd0a760-79f8-49e4-acc2-b065e47778ae","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/1fd0a760-79f8-49e4-acc2-b065e47778ae","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kuo , C-H , Dai , J S &amp; Legnani , G 2014 , ' A non-overconstrained variant of the Agile Eye with a special decoupled kinematics ' , ROBOTICA , vol. 32 , no. 6 , pp. 889-905 . https://doi.org/10.1017/S0263574713001100","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1964185413","https://openalex.org/W1973027877","https://openalex.org/W1974489776","https://openalex.org/W1974931392","https://openalex.org/W1992014648","https://openalex.org/W2008814236","https://openalex.org/W2017420452","https://openalex.org/W2020525176","https://openalex.org/W2021728749","https://openalex.org/W2024123216","https://openalex.org/W2041368296","https://openalex.org/W2046282300","https://openalex.org/W2047126621","https://openalex.org/W2047318255","https://openalex.org/W2057641248","https://openalex.org/W2064775528","https://openalex.org/W2074126943","https://openalex.org/W2074599523","https://openalex.org/W2098357050","https://openalex.org/W2101547618","https://openalex.org/W2107119928","https://openalex.org/W2109419900","https://openalex.org/W2118631535","https://openalex.org/W2121669866","https://openalex.org/W2137469233","https://openalex.org/W2139750985","https://openalex.org/W2151528438","https://openalex.org/W2156444760","https://openalex.org/W2163169321","https://openalex.org/W2228781017","https://openalex.org/W4235082735"],"related_works":["https://openalex.org/W2393524901","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W1963990040","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2973854518","https://openalex.org/W2770397302","https://openalex.org/W998473388"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1],"non-overconstrained":[2],"three-DOF":[3],"parallel":[4],"orientation":[5],"mechanism":[6,26,142],"that":[7,98,112],"is":[8,15,27,127],"kinematically":[9],"equivalent":[10],"to":[11,29,93],"the":[12,25,30,85,94,105,113,119,134,141,147],"Agile":[13],"Eye":[14],"presented":[16],"in":[17,46,108],"this":[18],"paper.":[19],"The":[20,60,123],"output":[21],"link":[22],"(end-effector)":[23],"of":[24,84,140],"connected":[28],"base":[31],"by":[32,37,100],"one":[33],"spherical":[34],"joint":[35,104],"and":[36,56,130,136,150],"another":[38],"three":[39,57,61,81],"identical":[40],"legs.":[41],"Each":[42],"leg":[43],"comprises":[44],"of,":[45],"turns":[47],"from":[48],"base,":[49],"a":[50,53,77,110],"revolute":[51,63,103],"joint,":[52,55],"universal":[54],"prismatic":[58],"joints.":[59],"lower":[62],"joints":[64,71],"are":[65,72,88,143],"active":[66],"joints,":[67,97],"while":[68],"all":[69],"other":[70],"passive":[73],"ones.":[74],"Based":[75],"on":[76,146],"special":[78],"configuration,":[79],"some":[80],"projective":[82,115],"angles":[83],"end-effector":[86,106],"coordinates":[87],"fully":[89,124],"decoupled":[90,125],"with":[91,118],"respect":[92],"input":[95],"actuated":[96],"is,":[99],"actuating":[101],"any":[102],"rotates":[107],"such":[109],"way":[111],"corresponding":[114],"angle":[116],"changes":[117],"same":[120],"angular":[121],"displacement.":[122],"motion":[126],"analyzed":[128],"geometrically":[129],"proved":[131],"theoretically.":[132],"Besides,":[133],"inverse":[135],"direct":[137],"kinematics":[138],"solutions":[139],"provided":[144],"based":[145],"geometric":[148],"reasoning":[149],"theoretical":[151],"proof.":[152]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
