{"id":"https://openalex.org/W2132311184","doi":"https://doi.org/10.1109/robio.2007.4522348","title":"Automatic computation of range of motion for coherent contact maintenance/transition of moving scaled convex polyhedra","display_name":"Automatic computation of range of motion for coherent contact maintenance/transition of moving scaled convex polyhedra","publication_year":2007,"publication_date":"2007-12-01","ids":{"openalex":"https://openalex.org/W2132311184","doi":"https://doi.org/10.1109/robio.2007.4522348","mag":"2132311184"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2007.4522348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5034523100","display_name":"Jing\u2010Sin Liu","orcid":"https://orcid.org/0000-0002-4935-8965"},"institutions":[{"id":"https://openalex.org/I4210098366","display_name":"Institute of Information Science, Academia Sinica","ror":"https://ror.org/00z83z196","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210098366","https://openalex.org/I84653119"]},{"id":"https://openalex.org/I4210141710","display_name":"Institute of Statistical Science, Academia Sinica","ror":"https://ror.org/044gv5910","country_code":"TW","type":"facility","lineage":["https://openalex.org/I4210141710","https://openalex.org/I84653119"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jing-Sin Liu","raw_affiliation_strings":["Institute of Information Science, Academia Sinica, Taipei, Taiwan","Inst. of Inf. Sci., Acad. Sinica, Taipei"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Information Science, Academia Sinica, Taipei, Taiwan","institution_ids":["https://openalex.org/I4210098366"]},{"raw_affiliation_string":"Inst. of Inf. Sci., Acad. Sinica, Taipei","institution_ids":["https://openalex.org/I4210141710"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005049752","display_name":"Wen-Hua Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-Hua Pan","raw_affiliation_strings":["Department of Engineering Science and Ocean Engineering, National Taiwan University, Taipei, Taiwan","Department of Engineering Science and Ocean Engineering, National Taiwan University Taipei, TAIWAN, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science and Ocean Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Engineering Science and Ocean Engineering, National Taiwan University Taipei, TAIWAN, China","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.329,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64569733,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"1278","last_page":"1284"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9984999895095825,"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/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9858999848365784,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/polyhedron","display_name":"Polyhedron","score":0.804347813129425},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.6918990015983582},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.6486517786979675},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6354610323905945},{"id":"https://openalex.org/keywords/coherence","display_name":"Coherence (philosophical gambling strategy)","score":0.5725594162940979},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5432329177856445},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5276150703430176},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49450036883354187},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4789879322052002},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4601675868034363},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3876432478427887},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37319672107696533},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33564916253089905},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32941198348999023},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3132443428039551},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11536985635757446},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.10880675911903381}],"concepts":[{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.804347813129425},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.6918990015983582},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.6486517786979675},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6354610323905945},{"id":"https://openalex.org/C2781181686","wikidata":"https://www.wikidata.org/wiki/Q4226068","display_name":"Coherence (philosophical gambling strategy)","level":2,"score":0.5725594162940979},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5432329177856445},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5276150703430176},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49450036883354187},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4789879322052002},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4601675868034363},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3876432478427887},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37319672107696533},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33564916253089905},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32941198348999023},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3132443428039551},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11536985635757446},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.10880675911903381},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2007.4522348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7400000095367432}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W10899980","https://openalex.org/W599341852","https://openalex.org/W1489660868","https://openalex.org/W1497695555","https://openalex.org/W1516000835","https://openalex.org/W1553616171","https://openalex.org/W1745886477","https://openalex.org/W1990451985","https://openalex.org/W2002454442","https://openalex.org/W2005102720","https://openalex.org/W2009641409","https://openalex.org/W2039269712","https://openalex.org/W2044135902","https://openalex.org/W2097159267","https://openalex.org/W2113525359","https://openalex.org/W2126617665","https://openalex.org/W2129296985","https://openalex.org/W2133321459","https://openalex.org/W2144274577","https://openalex.org/W2145896720","https://openalex.org/W2154886026","https://openalex.org/W2188845911","https://openalex.org/W2246400144","https://openalex.org/W2987377265","https://openalex.org/W6681071093","https://openalex.org/W6686972057","https://openalex.org/W6770258377"],"related_works":["https://openalex.org/W2971340537","https://openalex.org/W2797788337","https://openalex.org/W2113001792","https://openalex.org/W2046210743","https://openalex.org/W1511346678","https://openalex.org/W2030136392","https://openalex.org/W2738111169","https://openalex.org/W1584292662","https://openalex.org/W1857475410","https://openalex.org/W2951184467"],"abstract_inverted_index":{"Appropriate":[0],"application":[1],"of":[2,11,38,45,95,105,120,123,141,144],"spatial":[3,48],"coherence":[4],"can":[5,29,52,98],"speed":[6],"up":[7],"the":[8,43,54,66,68,73,106,112,121,133],"collision":[9],"detection":[10],"moving":[12],"objects":[13,27,147],"without":[14],"sacrificing":[15],"accuracy.":[16],"This":[17],"paper":[18],"presents":[19],"an":[20],"automatic":[21],"method":[22],"applicable":[23],"to":[24,148],"convex":[25,145],"polyhedral":[26,146],"that":[28,51],"undergo":[30],"both":[31],"uniform":[32],"scaling":[33,74],"transformation":[34],"and":[35,78,89,137],"any":[36],"type":[37],"relative":[39,80,91,138],"motion":[40,46,59,81,127],"for":[41,47,131],"computing":[42],"range":[44],"coherence,":[49],"i.e.":[50],"keep":[53],"scaled":[55],"contact":[56,69,76,135,139],"features":[57,77,136],"after":[58,90,126],"unchanged":[60],"as":[61],"original":[62],"undeformed":[63],"configuration.":[64],"Within":[65],"range,":[67],"maintenance/transition":[70],"relation":[71],"between":[72],"pairs,":[75],"intended":[79],"conditions(type,":[82],"direction,":[83],"amount)":[84],"is":[85],"very":[86],"similar":[87],"before":[88,115],"motion.":[92,116],"These":[93],"families":[94],"decision":[96,113,124],"curves":[97,125],"be":[99],"constructed":[100],"efficiently":[101],"by":[102,111],"taking":[103],"advantage":[104],"a":[107,142],"priori":[108],"information":[109],"provided":[110],"curve":[114],"We":[117],"illustrate":[118],"usage":[119],"family":[122],"within":[128],"coherent":[129],"ranges":[130],"designing":[132],"dimensions,":[134],"configuration":[140],"pair":[143],"mate":[149],"precisely":[150],"in":[151],"assembly.":[152]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
