{"id":"https://openalex.org/W2890270794","doi":"https://doi.org/10.1109/icra.2018.8460794","title":"Towards X-Ray Medical Imaging with Robots in the Open: Safety Without Compromising Performances","display_name":"Towards X-Ray Medical Imaging with Robots in the Open: Safety Without Compromising Performances","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890270794","doi":"https://doi.org/10.1109/icra.2018.8460794","mag":"2890270794"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.archives-ouvertes.fr/hal-01614508","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044933384","display_name":"Lucas Joseph","orcid":"https://orcid.org/0000-0002-1187-1392"},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"funder","lineage":["https://openalex.org/I154526488"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Lucas Joseph","raw_affiliation_strings":["INSERM, U1150 Agathe-ISIR, Paris, France"],"affiliations":[{"raw_affiliation_string":"INSERM, U1150 Agathe-ISIR, Paris, France","institution_ids":["https://openalex.org/I154526488"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003467974","display_name":"Vincent Padois","orcid":"https://orcid.org/0000-0002-1875-2097"},"institutions":[{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Padois","raw_affiliation_strings":["UPMC Univ Paris 06, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France"],"affiliations":[{"raw_affiliation_string":"UPMC Univ Paris 06, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059925153","display_name":"Guillaume Morel","orcid":"https://orcid.org/0000-0002-4500-0763"},"institutions":[{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"funder","lineage":["https://openalex.org/I154526488"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guillaume Morel","raw_affiliation_strings":["INSERM, U1150 Agathe-ISIR, Paris, France"],"affiliations":[{"raw_affiliation_string":"INSERM, U1150 Agathe-ISIR, Paris, France","institution_ids":["https://openalex.org/I154526488"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044933384"],"corresponding_institution_ids":["https://openalex.org/I154526488"],"apc_list":null,"apc_paid":null,"fwci":1.56869629,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.82753759,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10522","display_name":"Medical Imaging Techniques and Applications","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9778000116348267,"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/wrench","display_name":"Wrench","score":0.8232806921005249},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6528675556182861},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6225244998931885},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6219542622566223},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6039477586746216},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5902135372161865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5778641104698181},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5655075311660767},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5195837020874023},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.49677973985671997},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47148701548576355},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46712571382522583},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4424450099468231},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3562399744987488},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2256993055343628},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22473213076591492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16930365562438965},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11229163408279419},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10564178228378296}],"concepts":[{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.8232806921005249},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6528675556182861},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6225244998931885},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6219542622566223},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6039477586746216},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5902135372161865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5778641104698181},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5655075311660767},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5195837020874023},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.49677973985671997},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47148701548576355},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46712571382522583},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4424450099468231},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3562399744987488},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2256993055343628},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22473213076591492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16930365562438965},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11229163408279419},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10564178228378296},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8460794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01614508v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01614508","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"\\ninfo:eu-repo/semantics/article\\n"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01614508v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01614508","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"\\ninfo:eu-repo/semantics/article\\n"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1480904650","https://openalex.org/W1499277207","https://openalex.org/W2013439434","https://openalex.org/W2015016121","https://openalex.org/W2015593424","https://openalex.org/W2037333043","https://openalex.org/W2061350632","https://openalex.org/W2066202893","https://openalex.org/W2104906962","https://openalex.org/W2121761581","https://openalex.org/W2121991065","https://openalex.org/W2131404784","https://openalex.org/W2149085596","https://openalex.org/W2169187067","https://openalex.org/W2206736364","https://openalex.org/W2553909983","https://openalex.org/W2611512804","https://openalex.org/W4246760204","https://openalex.org/W6688199504","https://openalex.org/W6737782827"],"related_works":["https://openalex.org/W2120734204","https://openalex.org/W1965047598","https://openalex.org/W2186618162","https://openalex.org/W2183472499","https://openalex.org/W2158050076","https://openalex.org/W2145622176","https://openalex.org/W4226242789","https://openalex.org/W2416519951","https://openalex.org/W2008508241","https://openalex.org/W2020966348"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,17,30,43,49,86,97,102],"control":[4,27,81],"solution":[5],"featuring":[6],"an":[7,77],"energetic":[8,51],"constraint":[9],"is":[10,83],"developed":[11],"to":[12,42,56,69],"improve":[13],"the":[14,36,53,60,66,70],"safety":[15],"of":[16,38,74],"robotic":[18],"manipulator":[19],"sharing":[20],"its":[21],"workspace":[22],"with":[23,76],"humans.":[24],"This":[25,80],"general":[26],"structure,":[28],"exploits":[29],"generic":[31],"safe":[32],"controller":[33,54],"that":[34],"ensures":[35],"respect":[37],"multiple":[39],"constraints":[40],"thanks":[41],"Linear":[44],"Quadratic":[45],"Problem":[46],"formulation.":[47],"With":[48],"unified":[50],"formulation,":[52],"allows":[55],"explicitly":[57],"limit":[58],"both":[59],"kinetic":[61],"energy":[62],"when":[63],"moving":[64],"and":[65],"wrench":[67],"applied":[68],"environment":[71],"in":[72],"case":[73],"contact":[75],"unexpected":[78],"obstacle.":[79],"approach":[82],"experimented":[84],"on":[85],"redundant":[87],"Kuka":[88],"LWR4+":[89],"robot":[90],"which":[91],"end-effector":[92],"shall":[93],"precisely":[94],"point":[95],"toward":[96],"given":[98],"location":[99],"while":[100],"following":[101],"trajectory.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}