{"id":"https://openalex.org/W3132354968","doi":"https://doi.org/10.1109/iros45743.2020.9340991","title":"STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms","display_name":"STORM: Screw Theory Toolbox For Robot Manipulator and Mechanisms","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3132354968","doi":"https://doi.org/10.1109/iros45743.2020.9340991","mag":"3132354968"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5112379321","display_name":"Keerthi Sagar","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Keerthi Sagar","raw_affiliation_strings":["University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145"],"affiliations":[{"raw_affiliation_string":"University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048639093","display_name":"Vishal Ramadoss","orcid":"https://orcid.org/0000-0002-4876-2632"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vishal Ramadoss","raw_affiliation_strings":["University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145"],"affiliations":[{"raw_affiliation_string":"University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056884178","display_name":"Dimiter Zlatanov","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Dimiter Zlatanov","raw_affiliation_strings":["University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145"],"affiliations":[{"raw_affiliation_string":"University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033367596","display_name":"Matteo Zoppi","orcid":"https://orcid.org/0000-0003-0122-3196"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Zoppi","raw_affiliation_strings":["University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145"],"affiliations":[{"raw_affiliation_string":"University of Genoa,PMAR Robotics Group,Department of Mechanical, Energy, Management and Transportation Engineering,Genoa (GE),Italy,16145","institution_ids":["https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5112379321"],"corresponding_institution_ids":["https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":0.2942,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58645896,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"28","issue":null,"first_page":"7233","last_page":"7240"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9944000244140625,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9793000221252441,"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/screw-theory","display_name":"Screw theory","score":0.8389548063278198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.654244601726532},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6489381790161133},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5609660744667053},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.5192608833312988},{"id":"https://openalex.org/keywords/toolbox","display_name":"Toolbox","score":0.5006482601165771},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.4518147110939026},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.44590604305267334},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.42410868406295776},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42031562328338623},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36845719814300537},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34958913922309875},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.337207168340683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32901033759117126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2589792013168335},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13807770609855652},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1312878131866455}],"concepts":[{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.8389548063278198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.654244601726532},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6489381790161133},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5609660744667053},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.5192608833312988},{"id":"https://openalex.org/C2777655017","wikidata":"https://www.wikidata.org/wiki/Q1501161","display_name":"Toolbox","level":2,"score":0.5006482601165771},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.4518147110939026},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.44590604305267334},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.42410868406295776},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42031562328338623},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36845719814300537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34958913922309875},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.337207168340683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32901033759117126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2589792013168335},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13807770609855652},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1312878131866455},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros45743.2020.9340991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/1047816","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/1047816","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","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":34,"referenced_works":["https://openalex.org/W289820477","https://openalex.org/W339007097","https://openalex.org/W1485633210","https://openalex.org/W1564897360","https://openalex.org/W1597009130","https://openalex.org/W1606010446","https://openalex.org/W1967506722","https://openalex.org/W1970845222","https://openalex.org/W1986993071","https://openalex.org/W1999566389","https://openalex.org/W2005398456","https://openalex.org/W2009032932","https://openalex.org/W2014478593","https://openalex.org/W2016061395","https://openalex.org/W2023202338","https://openalex.org/W2028260950","https://openalex.org/W2032166722","https://openalex.org/W2041502430","https://openalex.org/W2050404759","https://openalex.org/W2053092230","https://openalex.org/W2061118163","https://openalex.org/W2070342389","https://openalex.org/W2111001409","https://openalex.org/W2116021467","https://openalex.org/W2133037307","https://openalex.org/W2149922391","https://openalex.org/W2149990667","https://openalex.org/W2347749042","https://openalex.org/W2745943133","https://openalex.org/W2789413602","https://openalex.org/W3043145350","https://openalex.org/W4210556961","https://openalex.org/W4252902744","https://openalex.org/W6781032936"],"related_works":["https://openalex.org/W2808797274","https://openalex.org/W2084494155","https://openalex.org/W2751398071","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W2972304526","https://openalex.org/W2119963650","https://openalex.org/W2907704902"],"abstract_inverted_index":{"Screw":[0],"theory":[1,23,88,95],"is":[2,32],"a":[3,16,28,33,68,81],"powerful":[4],"mathematical":[5],"tool":[6],"for":[7,39,59,67,102],"the":[8,42,46,85,97,113,127,135],"kinematic":[9],"analysis":[10,60,101,131],"of":[11,18,35,41,45,63,70,91,93,119],"mechanisms":[12],"and":[13,55,61,73,89,99,138,143],"has":[14,24,77],"become":[15],"cornerstone":[17],"modern":[19],"kinematics.":[20],"Although":[21],"screw":[22,47,65,94,136],"rooted":[25],"itself":[26],"as":[27,80],"core":[29],"concept,":[30],"there":[31],"lack":[34],"generic":[36],"software":[37,109],"tools":[38],"visualization":[40,62],"geometric":[43],"pattern":[44],"elements.":[48],"This":[49,75],"paper":[50],"presents":[51],"STORM,":[52],"an":[53,107],"educational":[54],"research":[56],"oriented":[57],"framework":[58],"reciprocal":[64],"systems":[66],"class":[69],"robot":[71,103,120],"manipulator":[72],"mechanisms.":[74,104],"platform":[76],"been":[78],"developed":[79],"way":[82],"to":[83,115,129],"bridge":[84],"gap":[86],"between":[87],"practice":[90],"application":[92],"in":[96],"constraint":[98],"motion":[100],"STORM":[105],"utilizes":[106],"abstracted":[108],"architecture":[110],"that":[111],"enables":[112],"user":[114],"study":[116],"different":[117],"structures":[118],"manipulators.":[121],"The":[122],"example":[123],"case":[124],"studies":[125],"demonstrate":[126],"potential":[128],"perform":[130],"on":[132],"mechanisms,":[133],"visualize":[134],"entities":[137],"conveniently":[139],"add":[140],"new":[141],"models":[142],"analyses.":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}