{"id":"https://openalex.org/W2105282492","doi":"https://doi.org/10.1109/robot.2006.1642048","title":"Working and assembly modes of the agile eye","display_name":"Working and assembly modes of the agile eye","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2105282492","doi":"https://doi.org/10.1109/robot.2006.1642048","mag":"2105282492"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642048","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/0708.3936","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041347819","display_name":"Ilian A. Bonev","orcid":"https://orcid.org/0000-0002-9663-2496"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"I.A. Bonev","raw_affiliation_strings":["Department of Automated Manufacturing Engineering, \u00c9cole de Technologie Sup\u00e9rieure, Montreal, QUE, Canada","Dept. of Autom. Manufacturing Eng., Ecole de Technol. Superieure, Montreal, Que"],"affiliations":[{"raw_affiliation_string":"Department of Automated Manufacturing Engineering, \u00c9cole de Technologie Sup\u00e9rieure, Montreal, QUE, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"Dept. of Autom. Manufacturing Eng., Ecole de Technol. Superieure, Montreal, Que","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039524439","display_name":"Damien Chablat","orcid":"https://orcid.org/0000-0001-7847-6162"},"institutions":[{"id":"https://openalex.org/I4210109587","display_name":"Laboratoire de Thermique et Energie de Nantes","ror":"https://ror.org/021fdyt09","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210109587","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Chablat","raw_affiliation_strings":["Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France","[Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France]"],"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France","institution_ids":["https://openalex.org/I4210109587"]},{"raw_affiliation_string":"[Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France]","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108117716","display_name":"Philippe Wenger","orcid":null},"institutions":[{"id":"https://openalex.org/I4210109587","display_name":"Laboratoire de Thermique et Energie de Nantes","ror":"https://ror.org/021fdyt09","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210095849","https://openalex.org/I4210109587","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Wenger","raw_affiliation_strings":["Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France","[Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France]"],"affiliations":[{"raw_affiliation_string":"Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France","institution_ids":["https://openalex.org/I4210109587"]},{"raw_affiliation_string":"[Institut de Recherche en Communications, Cybern\u00e9tique de Nantes, Nantes, France]","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041347819"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":8.2535,"has_fulltext":false,"cited_by_count":81,"citation_normalized_percentile":{"value":0.97117817,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"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/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/T10653","display_name":"Robot Manipulation and Learning","score":0.991599977016449,"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":0.9861000180244446,"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":0.8023490309715271},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7125647068023682},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6783073544502258},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.6063826084136963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5463096499443054},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.48061293363571167},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4678550362586975},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4508419632911682},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.4506984055042267},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4492664039134979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.382453590631485},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3515225648880005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32980960607528687},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3009371757507324},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2983815670013428},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23770517110824585},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2331167757511139},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1512833833694458},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10262027382850647},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.06682363152503967}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.8023490309715271},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7125647068023682},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6783073544502258},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.6063826084136963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5463096499443054},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.48061293363571167},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4678550362586975},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4508419632911682},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.4506984055042267},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4492664039134979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.382453590631485},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3515225648880005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32980960607528687},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3009371757507324},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2983815670013428},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23770517110824585},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2331167757511139},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1512833833694458},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10262027382850647},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.06682363152503967},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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":2,"locations":[{"id":"doi:10.1109/robot.2006.1642048","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642048","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:0708.3936","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0708.3936","pdf_url":"https://arxiv.org/pdf/0708.3936","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:0708.3936","is_oa":true,"landing_page_url":"http://arxiv.org/abs/0708.3936","pdf_url":"https://arxiv.org/pdf/0708.3936","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321747","display_name":"Fonds Qu\u00e9b\u00e9cois de la Recherche sur la Nature et les Technologies","ror":"https://ror.org/00b9f9778"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W158996961","https://openalex.org/W2012329384","https://openalex.org/W2015780685","https://openalex.org/W2066133103","https://openalex.org/W2098123003","https://openalex.org/W2144682848","https://openalex.org/W2146475250","https://openalex.org/W2160221287","https://openalex.org/W2166564584","https://openalex.org/W2234285095","https://openalex.org/W2341668857","https://openalex.org/W6684451439","https://openalex.org/W6689757443"],"related_works":["https://openalex.org/W2138030819","https://openalex.org/W2537091977","https://openalex.org/W2973854518","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W3134555460","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":{"This":[0,85],"paper":[1,46,86],"deals":[2],"with":[3,26,108],"the":[4,14,48,73,78,90,94,98,109,113],"in-depth":[5],"kinematic":[6],"analysis":[7],"of":[8,33,65,72,77,97],"a":[9,21,82,104],"special":[10],"parallel":[11,24],"wrist,":[12],"called":[13],"agile":[15,18,99],"eye.":[16],"The":[17],"eye":[19,100],"is":[20,51,55],"three-legged":[22],"spherical":[23],"robot":[25],"revolute":[27],"joints,":[28],"in":[29,44],"which":[30],"all":[31],"pairs":[32],"adjacent":[34],"joint":[35],"axes":[36],"are":[37],"orthogonal.":[38],"Its":[39],"most":[40],"peculiar":[41],"feature,":[42],"demonstrated":[43],"this":[45],"for":[47],"first":[49],"time,":[50],"that":[52,89],"its":[53],"workspace":[54],"unlimited":[56],"and":[57,76],"flawed":[58],"only":[59],"by":[60],"six":[61],"singularity":[62],"curves":[63,68],"(instead":[64],"surfaces).":[66],"These":[67],"correspond":[69],"to":[70,81,93,112],"self-motions":[71],"mobile":[74],"platform":[75],"legs,":[79],"or":[80],"lockup":[83],"configuration.":[84],"also":[87],"demonstrates":[88],"four":[91],"solutions":[92,111],"direct":[95,106],"kinematics":[96,115],"(assembly":[101],"modes)":[102,117],"have":[103],"simple":[105],"relationship":[107],"eight":[110],"inverse":[114],"(working":[116]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}