{"id":"https://openalex.org/W1971356832","doi":"https://doi.org/10.1109/robot.2004.1308808","title":"Automatic verification of contact states taking into account manipulator constraints","display_name":"Automatic verification of contact states taking into account manipulator constraints","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W1971356832","doi":"https://doi.org/10.1109/robot.2004.1308808","mag":"1971356832"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1308808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},"type":"conference-paper","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/A5000426585","display_name":"Wim Meeussen","orcid":"https://orcid.org/0000-0003-1905-4001"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]},{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"W. Meeussen","raw_affiliation_strings":["Computer Science Department, North Carolina State University, Charlotte, USA","Computer Science Department, University of North Carolina, Charlotte, USA","Department of Mechanical Engineering, Katholieke Universiteit, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, North Carolina State University, Charlotte, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"Computer Science Department, University of North Carolina, Charlotte, USA","institution_ids":["https://openalex.org/I102149020"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070173803","display_name":"Jing Xiao","orcid":"https://orcid.org/0000-0002-5242-7909"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","US"],"is_corresponding":false,"raw_author_name":"Jing Xiao","raw_affiliation_strings":["Computer Science Department, University of North Carolina, Charlotte, USA","Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of North Carolina, Charlotte, USA","institution_ids":["https://openalex.org/I102149020"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"J. De Schutter","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"H. Bruyninckx","raw_affiliation_strings":["Department of Mechanical Engineering, Katholieke Universiteit, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Katholieke Universiteit, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034024548","display_name":"Ernesto Staffetti","orcid":"https://orcid.org/0000-0002-8822-4812"},"institutions":[{"id":"https://openalex.org/I102149020","display_name":"University of North Carolina at Charlotte","ror":"https://ror.org/04dawnj30","country_code":"US","type":"education","lineage":["https://openalex.org/I102149020"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E. Staffetti","raw_affiliation_strings":["Computer Science Department, University of North Carolina, Charlotte, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of North Carolina, Charlotte, USA","institution_ids":["https://openalex.org/I102149020"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4886,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.5687416,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3583","last_page":"3588 Vol.4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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":0.998199999332428,"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/reachability","display_name":"Reachability","score":0.8730717897415161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5964437127113342},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5292403697967529},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5203825235366821},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4991798400878906},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4939797520637512},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4806855618953705},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4339074492454529},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43379172682762146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4316040873527527},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4302392303943634},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27804750204086304},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20914199948310852},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20793649554252625},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1545625925064087},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.07775449752807617}],"concepts":[{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.8730717897415161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5964437127113342},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5292403697967529},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5203825235366821},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4991798400878906},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4939797520637512},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4806855618953705},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4339074492454529},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43379172682762146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4316040873527527},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4302392303943634},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27804750204086304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20914199948310852},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20793649554252625},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1545625925064087},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.07775449752807617},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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":4,"locations":[{"id":"doi:10.1109/robot.2004.1308808","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1308808","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.187.8753","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.187.8753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.uncc.edu/%7Exiao/pdf/icra2004_w.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.61.539","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.61.539","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.mech.kuleuven.be/~wmeeusse/Papers/gcr_graph.pdf","raw_type":"text"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/157773","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/bitstream/123456789/157773/1/03PP136.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation, new Orleans, USA, 26 April - 2 May 2004","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1481180082","https://openalex.org/W1612678469","https://openalex.org/W1990451985","https://openalex.org/W2025998811","https://openalex.org/W2107479439","https://openalex.org/W2108792235","https://openalex.org/W2110144538","https://openalex.org/W2121881440","https://openalex.org/W2125897760","https://openalex.org/W2150709101","https://openalex.org/W2152351276","https://openalex.org/W2152519771","https://openalex.org/W2166316739","https://openalex.org/W6628823866"],"related_works":["https://openalex.org/W2127267268","https://openalex.org/W2136512912","https://openalex.org/W2067910792","https://openalex.org/W2156446763","https://openalex.org/W2150194458","https://openalex.org/W2143461633","https://openalex.org/W4321471459","https://openalex.org/W2889071233","https://openalex.org/W2380814829","https://openalex.org/W2387511021"],"abstract_inverted_index":{"Compliant":[0],"motion":[1,20],"is":[2,58],"required":[3],"or":[4],"desirable":[5],"in":[6,29],"many":[7],"robotic":[8],"tasks,":[9],"especially":[10],"assembly":[11],"tasks.":[12],"Both":[13],"planning":[14],"and":[15,61,96,112,126,134],"execution":[16],"of":[17,24,38,78,130,156,163],"autonomous":[18],"compliant":[19,146,154],"requires":[21],"the":[22,68,76,108,113,123,128,135,149,161],"knowledge":[23],"contact":[25,30,39,48,81,104,132,140],"states":[26,40,49,82,141],"between":[27,41,83,107,137],"parts":[28],"beforehand.":[31],"Previous":[32],"research":[33],"has":[34],"addressed":[35],"automatic":[36],"generation":[37],"rigid":[42,56],"objects.":[43],"However,":[44],"not":[45],"all":[46],"such":[47],"can":[50],"be":[51],"possibly":[52],"reached":[53],"if":[54],"a":[55,64,84,90,93,97,103,144],"object":[57],"attached":[59],"to":[60,67,122,148,151],"moved":[62],"by":[63,89,142],"manipulator":[65,69,91,124,150],"due":[66],"constraints.":[70],"In":[71],"this":[72],"paper,":[73],"we":[74],"study":[75],"problem":[77],"finding":[79],"feasible":[80],"polyhedral":[85,99],"part":[86,100,110,115],"A":[87,111,121],"held":[88],"with":[92],"fixed":[94,98,114],"base":[95],"B.":[101],"Given":[102],"state":[105,133],"graph":[106],"unattached":[109],"B,":[116],"our":[117,164],"approach":[118],"then":[119],"attaches":[120],"model":[125],"checks":[127],"reachability":[129],"each":[131],"connection":[136],"two":[138],"neighboring":[139],"applying":[143],"virtual":[145],"controller":[147],"test":[152],"possible":[153],"motions":[155],"A.":[157],"Implementation":[158],"results":[159],"validate":[160],"effectiveness":[162],"method.":[165]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}