{"id":"https://openalex.org/W3165661402","doi":"https://doi.org/10.1109/aim46487.2021.9517497","title":"Designing the social robot Elvis: how to select an optimal joint configuration for effective gesturing","display_name":"Designing the social robot Elvis: how to select an optimal joint configuration for effective gesturing","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3165661402","doi":"https://doi.org/10.1109/aim46487.2021.9517497","mag":"3165661402"},"language":"en","primary_location":{"id":"doi:10.1109/aim46487.2021.9517497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","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/A5012437779","display_name":"Greet Van de Perre","orcid":"https://orcid.org/0000-0001-6648-6056"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Greet Van de Perre","raw_affiliation_strings":["Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium","imec, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"imec, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058056955","display_name":"Albert De Beir","orcid":"https://orcid.org/0000-0002-8570-6613"},"institutions":[{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]},{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Albert De Beir","raw_affiliation_strings":["Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium","imec, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"imec, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053382705","display_name":"Hoang-Long Cao","orcid":"https://orcid.org/0000-0003-2851-5527"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Hoang-Long Cao","raw_affiliation_strings":["Flanders Make@VUB","Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium"],"affiliations":[{"raw_affiliation_string":"Flanders Make@VUB","institution_ids":["https://openalex.org/I4210116480"]},{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium","institution_ids":["https://openalex.org/I13469542"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]},{"id":"https://openalex.org/I4210114974","display_name":"IMEC","ror":"https://ror.org/02kcbn207","country_code":"BE","type":"nonprofit","lineage":["https://openalex.org/I4210114974"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium","imec, Belgium"],"affiliations":[{"raw_affiliation_string":"Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"imec, Belgium","institution_ids":["https://openalex.org/I4210114974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012437779"],"corresponding_institution_ids":["https://openalex.org/I13469542","https://openalex.org/I4210114974"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05257111,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"300","last_page":"307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7034314870834351},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6938490867614746},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.6800593137741089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6608893871307373},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.6167404055595398},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5996025800704956},{"id":"https://openalex.org/keywords/collocation","display_name":"Collocation (remote sensing)","score":0.5687477588653564},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.42709311842918396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4146481454372406},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.28405436873435974},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27607297897338867},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16914772987365723},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11170077323913574}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7034314870834351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6938490867614746},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.6800593137741089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6608893871307373},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.6167404055595398},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5996025800704956},{"id":"https://openalex.org/C80023036","wikidata":"https://www.wikidata.org/wiki/Q5147531","display_name":"Collocation (remote sensing)","level":2,"score":0.5687477588653564},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.42709311842918396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4146481454372406},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28405436873435974},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27607297897338867},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16914772987365723},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11170077323913574},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/aim46487.2021.9517497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:153123","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/designing-the-social-robot-elvis-how-to-select-an-optimal-joint-configuration-for-effective-gesturing(ca64f679-15dc-4049-95af-190849d53634).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":null,"raw_type":"publishedVersion"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:184101","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"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":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.699999988079071}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321730","display_name":"Fonds Wetenschappelijk Onderzoek","ror":"https://ror.org/03qtxy027"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1521597329","https://openalex.org/W1589423663","https://openalex.org/W1761550677","https://openalex.org/W1972588742","https://openalex.org/W2026204627","https://openalex.org/W2060245136","https://openalex.org/W2130912818","https://openalex.org/W2142992961","https://openalex.org/W2145477224","https://openalex.org/W2170519810","https://openalex.org/W2181154133","https://openalex.org/W2462669766","https://openalex.org/W2540393540","https://openalex.org/W2540653185","https://openalex.org/W2546210067","https://openalex.org/W2614308505","https://openalex.org/W2727839256","https://openalex.org/W2785012264","https://openalex.org/W2911515498","https://openalex.org/W6685643688","https://openalex.org/W6747970038"],"related_works":["https://openalex.org/W2066003895","https://openalex.org/W2537963312","https://openalex.org/W2537762514","https://openalex.org/W2349788282","https://openalex.org/W577271088","https://openalex.org/W2120801881","https://openalex.org/W1982853263","https://openalex.org/W1974473538","https://openalex.org/W2020010749","https://openalex.org/W2164899521"],"abstract_inverted_index":{"Depending":[0],"on":[1,75,104,128,139],"their":[2,137],"exact":[3,57],"application,":[4],"social":[5,162],"robots":[6],"have":[7,71],"been":[8],"designed":[9],"with":[10],"different":[11,101,134],"arm":[12,35],"morphologies,":[13],"ranging":[14],"from":[15],"under-actuated":[16],"designs":[17],"to":[18,30,85,154],"arms":[19],"featuring":[20],"9":[21],"degrees":[22],"of":[23,54,59,78,89,100,107,120,131,182,188,197,214],"freedom":[24],"(DOF).":[25],"It":[26],"is":[27,37,83],"however":[28],"difficult":[29,84],"investigate":[31],"if":[32],"the":[33,39,44,52,56,60,62,66,76,79,87,98,105,117,129,179,186,195,212,215,217],"chosen":[34],"morphology":[36,158],"indeed":[38],"best":[40],"possible":[41],"solution":[42],"for":[43,133,159,178],"intended":[45,180],"application.":[46],"Different":[47],"design":[48,92,102,118],"aspects,":[49],"such":[50],"as":[51,192,194],"number":[53],"DOF,":[55],"collocation":[58],"joints,":[61],"link":[63],"lengths":[64],"and":[65,110,136,224],"joint":[67,171,190,198],"angle":[68,199],"range,":[69],"all":[70],"a":[72,125,205],"direct":[73],"influence":[74,88,196],"expressibility":[77],"robot.":[80,184],"Therefore,":[81],"it":[82],"isolate":[86],"one":[90,140],"specific":[91],"parameter.":[93],"To":[94,210],"give":[95],"insights":[96],"in":[97,112,116,208],"effect":[99,187],"aspects":[103],"performance":[106],"specified":[108],"motions":[109],"help":[111],"making":[113],"substantiated":[114],"trade-off\u2019s":[115],"process":[119],"new":[121,161],"robots,":[122],"we":[123,147],"developed":[124],"tool,":[126],"based":[127],"calculation":[130],"gestures":[132],"morphologies":[135,220],"visualization":[138],"single":[141],"virtual":[142],"model.":[143],"In":[144],"this":[145,150],"paper,":[146],"illustrate":[148],"how":[149],"methodology":[151],"was":[152,201],"followed":[153],"select":[155],"an":[156],"optimal":[157],"our":[160,183],"robot":[163],"Elvis.":[164],"A":[165],"preliminary":[166],"gesture":[167,206],"study":[168,207],"indicated":[169],"three":[170,218],"configurations":[172],"that":[173],"could":[174],"be":[175],"particularly":[176],"interesting":[177],"application":[181],"Both":[185],"individual":[189],"placement,":[191],"well":[193],"range":[200],"investigated":[202],"by":[203],"performing":[204],"simulation.":[209],"validate":[211],"output":[213],"methodology,":[216],"studied":[219],"were":[221],"physically":[222],"realized":[223],"tested.":[225]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
