{"id":"https://openalex.org/W2516688370","doi":"https://doi.org/10.1108/ir-01-2016-0037","title":"The Canonical Robot Command Language (CRCL)","display_name":"The Canonical Robot Command Language (CRCL)","publication_year":2016,"publication_date":"2016-08-15","ids":{"openalex":"https://openalex.org/W2516688370","doi":"https://doi.org/10.1108/ir-01-2016-0037","mag":"2516688370","pmid":"https://pubmed.ncbi.nlm.nih.gov/28529393"},"language":"en","primary_location":{"id":"doi:10.1108/ir-01-2016-0037","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2016-0037","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5112792875","display_name":"Frederick M. Proctor","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124755","display_name":"National Institute of Standards","ror":"https://ror.org/02zftm050","country_code":"EG","type":"facility","lineage":["https://openalex.org/I4210124755"]},{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["EG","US"],"is_corresponding":true,"raw_author_name":"Frederick Proctor","raw_affiliation_strings":["National Institute of Standards and Technology","National Institute of Standards and Technology, Gaithersburg, Maryland, USA"],"affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology","institution_ids":["https://openalex.org/I4210124755","https://openalex.org/I1321296531"]},{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, Maryland, USA","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039353529","display_name":"Stephen Balakirsky","orcid":"https://orcid.org/0000-0003-0757-6152"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4388482740","display_name":"Georgia Tech Research Institute","ror":"https://ror.org/04qfrh333","country_code":null,"type":"facility","lineage":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen Balakirsky","raw_affiliation_strings":["Georgia Institute of Technology","Georgia Tech Research Institute, Atlanta, Georgia, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Georgia Tech Research Institute, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I130701444","https://openalex.org/I4388482740"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020382987","display_name":"Zeid Kootbally","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]},{"id":"https://openalex.org/I126744593","display_name":"University of Maryland, Baltimore","ror":"https://ror.org/04rq5mt64","country_code":"US","type":"education","lineage":["https://openalex.org/I126744593"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zeid Kootbally","raw_affiliation_strings":["The University of Maryland","University of Maryland, College Park, Maryland, USA"],"affiliations":[{"raw_affiliation_string":"The University of Maryland","institution_ids":["https://openalex.org/I126744593"]},{"raw_affiliation_string":"University of Maryland, College Park, Maryland, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109203059","display_name":"Thomas Kr\u00e4mer","orcid":null},"institutions":[{"id":"https://openalex.org/I84470341","display_name":"Catholic University of America","ror":"https://ror.org/047yk3s18","country_code":"US","type":"education","lineage":["https://openalex.org/I84470341"]},{"id":"https://openalex.org/I168959743","display_name":"University of America","ror":"https://ror.org/03s0c9350","country_code":"US","type":"education","lineage":["https://openalex.org/I168959743"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Kramer","raw_affiliation_strings":["The Catholic University of America","Department of Mechanical Engineering, Catholic University of America, Washington, District of Columbia, USA"],"affiliations":[{"raw_affiliation_string":"The Catholic University of America","institution_ids":["https://openalex.org/I84470341"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Catholic University of America, Washington, District of Columbia, USA","institution_ids":["https://openalex.org/I168959743","https://openalex.org/I84470341"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035522877","display_name":"Craig Schlenoff","orcid":"https://orcid.org/0000-0001-5899-7024"},"institutions":[{"id":"https://openalex.org/I4210124755","display_name":"National Institute of Standards","ror":"https://ror.org/02zftm050","country_code":"EG","type":"facility","lineage":["https://openalex.org/I4210124755"]},{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["EG","US"],"is_corresponding":false,"raw_author_name":"Craig Schlenoff","raw_affiliation_strings":["National Institute of Standards and Technology","Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, Maryland, USA"],"affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology","institution_ids":["https://openalex.org/I4210124755","https://openalex.org/I1321296531"]},{"raw_affiliation_string":"Intelligent Systems Division, National Institute of Standards and Technology, Gaithersburg, Maryland, USA","institution_ids":["https://openalex.org/I1321296531"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086719688","display_name":"William P. Shackleford","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124755","display_name":"National Institute of Standards","ror":"https://ror.org/02zftm050","country_code":"EG","type":"facility","lineage":["https://openalex.org/I4210124755"]},{"id":"https://openalex.org/I1321296531","display_name":"National Institute of Standards and Technology","ror":"https://ror.org/05xpvk416","country_code":"US","type":"funder","lineage":["https://openalex.org/I1321296531","https://openalex.org/I1343035065"]}],"countries":["EG","US"],"is_corresponding":false,"raw_author_name":"William Shackleford","raw_affiliation_strings":["National Institute of Standards and Technology","National Institute of Standards and Technology, Gaithersburg, Maryland, USA"],"affiliations":[{"raw_affiliation_string":"National Institute of Standards and Technology","institution_ids":["https://openalex.org/I4210124755","https://openalex.org/I1321296531"]},{"raw_affiliation_string":"National Institute of Standards and Technology, Gaithersburg, Maryland, USA","institution_ids":["https://openalex.org/I1321296531"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5112792875"],"corresponding_institution_ids":["https://openalex.org/I1321296531","https://openalex.org/I4210124755"],"apc_list":null,"apc_paid":null,"fwci":2.4363,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.89641814,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"43","issue":"5","first_page":"495","last_page":"502"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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":0.9973000288009644,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9807999730110168,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9804999828338623,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7347394824028015},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6882798075675964},{"id":"https://openalex.org/keywords/software-portability","display_name":"Software portability","score":0.6122743487358093},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3605717420578003},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32246726751327515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30843308568000793},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09643903374671936}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7347394824028015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6882798075675964},{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.6122743487358093},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3605717420578003},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32246726751327515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30843308568000793},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09643903374671936}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1108/ir-01-2016-0037","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2016-0037","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"},{"id":"pmid:28529393","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/28529393","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The Industrial robot","raw_type":null},{"id":"pmh:oai:europepmc.org:4285694","is_oa":false,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/5436486","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"sustainable_development_goals":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1987948734","https://openalex.org/W2082511574","https://openalex.org/W2116012084","https://openalex.org/W2142094875","https://openalex.org/W2148033465","https://openalex.org/W2726353276","https://openalex.org/W2900261826","https://openalex.org/W2901136733","https://openalex.org/W4242249277"],"related_works":["https://openalex.org/W107105315","https://openalex.org/W1584537303","https://openalex.org/W1872724644","https://openalex.org/W2750549761","https://openalex.org/W4388155270","https://openalex.org/W28826848","https://openalex.org/W2122272819","https://openalex.org/W4367156293","https://openalex.org/W2130894091","https://openalex.org/W2994151208"],"abstract_inverted_index":{"Industrial":[0],"robots":[1],"can":[2,35,95],"perform":[3],"motion":[4],"with":[5,52],"sub-millimeter":[6],"repeatability":[7],"when":[8],"programmed":[9],"using":[10],"the":[11,24,30,43,76,82,85,88,98,113,150,154,167],"teach-and-playback":[12],"method.":[13],"While":[14],"effective,":[15],"this":[16,46,131],"method":[17,47],"requires":[18],"significant":[19],"up-front":[20,79],"time,":[21],"tying":[22],"up":[23],"robot":[25,40,63,179],"and":[26,67,78,159,181,184],"a":[27,136,175],"person":[28],"during":[29],"teaching":[31],"phase.":[32],"Off-line":[33],"programming":[34,93],"be":[36,96,121,142],"used":[37,143],"to":[38,55,61,65,69,120],"generate":[39],"programs,":[41],"but":[42,84],"accuracy":[44],"of":[45,81,90,108,139,149,178],"is":[48,145],"poor":[49],"unless":[50],"supplemented":[51],"good":[53],"calibration":[54],"remove":[56],"systematic":[57],"errors,":[58],"feed-forward":[59],"models":[60],"anticipate":[62],"response":[64],"loads,":[66],"sensing":[68],"compensate":[70],"for":[71,153],"unmodeled":[72],"errors.":[73],"These":[74],"increase":[75],"complexity":[77],"cost":[80],"system,":[83],"payback":[86,101],"in":[87],"reduction":[89],"recurring":[91],"teach":[92],"time":[94],"worth":[97],"effort.":[99],"This":[100,161],"especially":[102],"benefits":[103],"small-batch,":[104],"short-turnaround":[105],"applications":[106],"typical":[107],"small-to-medium":[109],"enterprises,":[110],"who":[111],"need":[112],"agility":[114],"afforded":[115],"by":[116,147],"off-line":[117],"application":[118,133],"development":[119],"competitive":[122],"against":[123],"low-cost":[124],"manual":[125],"labor.":[126],"To":[127],"fully":[128],"benefit":[129],"from":[130],"agile":[132],"tasking":[134],"model,":[135,166],"common":[137],"representation":[138],"tasks":[140,180],"should":[141],"that":[144],"understood":[146],"all":[148],"resources":[151],"required":[152],"job:":[155],"robots,":[156],"tooling,":[157],"sensors,":[158],"people.":[160],"paper":[162],"describes":[163],"an":[164],"information":[165],"Canonical":[168],"Robot":[169],"Command":[170],"Language":[171],"(CRCL),":[172],"which":[173],"provides":[174],"high-level":[176],"description":[177],"associated":[182],"control":[183],"status":[185],"information.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}