Papers
5
Total Citations
73
H-Index
4
About
Wan-Chi Lee is a robotics researcher whose work focuses on collision detection and motion planning for redundant manipulators in constrained environments. Lee’s most significant contribution is the development of a novel collision detection method based on the “enclosed ellipsoid,” which, when used alongside traditional bounding ellipsoids, enables more accurate detection of potential collisions between convex polyhedra in three-dimensional space. This work, published in 2002 and cited 27 times, improves upon earlier methods by offering both speed and precision. Lee also pioneered an on-line, multi-criteria algorithm for generating collision-free postures for redundant manipulators, allowing robotic arms to perform complex tasks—such as maneuvering an end-effector through a window—in real time. Additional research includes recursive algorithms for obstacle clustering in both static and dynamic environments, which reduce computational costs by minimizing the number of collision checks required. With a total of over 70 citations across these key papers, Lee’s contributions are valuable for advancing safe and efficient robotic operation in cluttered workspaces.
Research Focus
Key Achievements
Top Papers
- 1A novel collision detection method based on enclosed ellipsoid27 citations · 2002
- 2
- 3Fast and accurate collision detection based on enclosed ellipsoid14 citations · 2001
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- 5