{"id":"https://openalex.org/W2956970244","doi":"https://doi.org/10.1109/lra.2019.2927947","title":"A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit","display_name":"A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit","publication_year":2019,"publication_date":"2019-07-10","ids":{"openalex":"https://openalex.org/W2956970244","doi":"https://doi.org/10.1109/lra.2019.2927947","mag":"2956970244"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2927947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2927947","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1902.10875","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yan Wang","orcid":"https://orcid.org/0000-0003-3013-7799"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Wang","raw_affiliation_strings":["Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3013-7799","affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Radian Gondokaryono","orcid":null},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radian Gondokaryono","raw_affiliation_strings":["Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Adnan Munawar","orcid":"https://orcid.org/0000-0002-3400-4558"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adnan Munawar","raw_affiliation_strings":["Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3400-4558","affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]},{"author_position":"last","author":{"id":null,"display_name":"Gregory Scott Fischer","orcid":"https://orcid.org/0000-0001-6723-6614"},"institutions":[{"id":"https://openalex.org/I107077323","display_name":"Worcester Polytechnic Institute","ror":"https://ror.org/05ejpqr48","country_code":"US","type":"education","lineage":["https://openalex.org/I107077323"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory Scott Fischer","raw_affiliation_strings":["Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6723-6614","affiliations":[{"raw_affiliation_string":"Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA, USA","institution_ids":["https://openalex.org/I107077323"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107077323"],"apc_list":null,"apc_paid":null,"fwci":3.884,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.93811838,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"4","issue":"4","first_page":"3657","last_page":"3664"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6593000292778015,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.6593000292778015,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.2467000037431717,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.031300000846385956,"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/robustness","display_name":"Robustness (evolution)","score":0.6811000108718872},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6384999752044678},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5446000099182129},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5077999830245972},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.47839999198913574},{"id":"https://openalex.org/keywords/software-package","display_name":"Software package","score":0.4602000117301941},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.41659998893737793}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6811000108718872},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6384999752044678},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5446000099182129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5270000100135803},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5077999830245972},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.47839999198913574},{"id":"https://openalex.org/C3020440742","wikidata":"https://www.wikidata.org/wiki/Q1176855","display_name":"Software package","level":3,"score":0.4602000117301941},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.41659998893737793},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35499998927116394},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3240000009536743},{"id":"https://openalex.org/C2984968299","wikidata":"https://www.wikidata.org/wiki/Q1077784","display_name":"Software tool","level":3,"score":0.3230000138282776},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.31459999084472656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3070000112056732},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2809999883174896},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.26510000228881836},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25619998574256897},{"id":"https://openalex.org/C2983447341","wikidata":"https://www.wikidata.org/wiki/Q1413083","display_name":"Model parameter","level":2,"score":0.25360000133514404}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2019.2927947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2927947","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1902.10875","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1902.10875","pdf_url":"https://arxiv.org/pdf/1902.10875","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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:1902.10875","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1902.10875","pdf_url":"https://arxiv.org/pdf/1902.10875","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":[{"id":"https://openalex.org/G3065117201","display_name":"NRI: Collaborative Research: Software Framework for Research in Semi-Autonomous Teleoperation","funder_award_id":"1637759","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1602498161","https://openalex.org/W1914893953","https://openalex.org/W1988252227","https://openalex.org/W2012040124","https://openalex.org/W2012884505","https://openalex.org/W2030795297","https://openalex.org/W2051669066","https://openalex.org/W2076650116","https://openalex.org/W2078856056","https://openalex.org/W2106865725","https://openalex.org/W2130440600","https://openalex.org/W2149085596","https://openalex.org/W2169017219","https://openalex.org/W2539678416","https://openalex.org/W2610665011","https://openalex.org/W2736363424","https://openalex.org/W2738705808","https://openalex.org/W2771423385","https://openalex.org/W2897317266","https://openalex.org/W2911114506","https://openalex.org/W2944287224","https://openalex.org/W6608173742","https://openalex.org/W6665489231","https://openalex.org/W6694971544","https://openalex.org/W6696497002","https://openalex.org/W6757105006","https://openalex.org/W6760425463"],"related_works":[],"abstract_inverted_index":{"The":[0],"da":[1],"Vinci":[2],"Research":[3],"Kit":[4],"(dVRK)":[5],"is":[6,24,57,89,96],"a":[7],"teleoperated":[8],"surgical":[9],"robotic":[10],"system.":[11],"For":[12],"dynamic":[13,19,30,62],"simulations":[14],"and":[15,44,79],"model-based":[16],"control,":[17],"the":[18,22,35,40,51,61,65,74,77,80,83,93],"model":[20,31],"of":[21,38,64,76,82],"dVRK":[23,66],"required.":[25],"We":[26],"present":[27],"an":[28],"open-source":[29],"identification":[32],"package":[33,88],"for":[34,92],"dVRK,":[36,94],"capable":[37],"modeling":[39,78],"parallelograms,":[41],"springs,":[42],"counterweight,":[43],"tendon":[45],"couplings,":[46],"which":[47],"are":[48],"inherent":[49],"to":[50,59,68,98],"dVRK.":[52],"A":[53],"convex":[54],"optimization-based":[55],"method":[56],"used":[58],"identify":[60],"parameters":[63],"subject":[67],"physical":[69],"consistency.":[70],"Experimental":[71],"results":[72],"show":[73],"effectiveness":[75],"robustness":[81],"package.":[84],"Although":[85],"this":[86],"software":[87],"originally":[90],"developed":[91],"it":[95,100],"feasible":[97],"apply":[99],"on":[101],"other":[102],"similar":[103],"robots.":[104]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-07-23T00:00:00"}