{"id":"https://openalex.org/W4403278345","doi":"https://doi.org/10.1109/mesa61532.2024.10704817","title":"Human-Like Robotic Handwriting with Inverse Kinematic Using a Mobile Telescopic Arm","display_name":"Human-Like Robotic Handwriting with Inverse Kinematic Using a Mobile Telescopic Arm","publication_year":2024,"publication_date":"2024-09-02","ids":{"openalex":"https://openalex.org/W4403278345","doi":"https://doi.org/10.1109/mesa61532.2024.10704817"},"language":"en","primary_location":{"id":"doi:10.1109/mesa61532.2024.10704817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mesa61532.2024.10704817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5104904125","display_name":"Luigi Gabriel Troconis","orcid":"https://orcid.org/0009-0007-7500-0864"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Gabriel Troconis","raw_affiliation_strings":["Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093836850","display_name":"Oleg Genova","orcid":null},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Oleg Genova","raw_affiliation_strings":["Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002363225","display_name":"Alessandro Freddi","orcid":"https://orcid.org/0000-0002-9880-0238"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Freddi","raw_affiliation_strings":["Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013840363","display_name":"Andrea Monteri\u00f9","orcid":"https://orcid.org/0000-0001-5388-8697"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Monteri\u00f9","raw_affiliation_strings":["Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit&#x00E0; Politecnica Delle Marche,Department of Information Engineering,Ancona,Italy","institution_ids":["https://openalex.org/I122534668"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122534668"],"apc_list":null,"apc_paid":null,"fwci":0.8877,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.69990266,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.8680999875068665,"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/T13382","display_name":"Robotics and Automated Systems","score":0.8680999875068665,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.8637999892234802,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.83160001039505,"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/handwriting","display_name":"Handwriting","score":0.7340645790100098},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6885234713554382},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6743401885032654},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6489707827568054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6457674503326416},{"id":"https://openalex.org/keywords/human-arm","display_name":"Human arm","score":0.5881110429763794},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4569656252861023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4465404450893402},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42280739545822144},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3971138894557953},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3603219985961914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2366555631160736},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12078678607940674},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06593698263168335}],"concepts":[{"id":"https://openalex.org/C2779386606","wikidata":"https://www.wikidata.org/wiki/Q2393642","display_name":"Handwriting","level":2,"score":0.7340645790100098},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6885234713554382},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6743401885032654},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6489707827568054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6457674503326416},{"id":"https://openalex.org/C2988484212","wikidata":"https://www.wikidata.org/wiki/Q43471","display_name":"Human arm","level":2,"score":0.5881110429763794},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4569656252861023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4465404450893402},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42280739545822144},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3971138894557953},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3603219985961914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2366555631160736},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12078678607940674},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06593698263168335},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/mesa61532.2024.10704817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mesa61532.2024.10704817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.univpm.it:11566/337058","is_oa":false,"landing_page_url":"https://hdl.handle.net/11566/337058","pdf_url":null,"source":{"id":"https://openalex.org/S4306402571","display_name":"Universit\u00e0 Politecnica delle Marche (Universit\u00e0 Politecnica delle Marche)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122534668","host_organization_name":"Marche Polytechnic University","host_organization_lineage":["https://openalex.org/I122534668"],"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":"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":18,"referenced_works":["https://openalex.org/W92071624","https://openalex.org/W1609287761","https://openalex.org/W1968642526","https://openalex.org/W2024212087","https://openalex.org/W2103807475","https://openalex.org/W2336960426","https://openalex.org/W2561378783","https://openalex.org/W2886578600","https://openalex.org/W3010066794","https://openalex.org/W3194176109","https://openalex.org/W3199943889","https://openalex.org/W3212706003","https://openalex.org/W4229536511","https://openalex.org/W4235119482","https://openalex.org/W4252031641","https://openalex.org/W4391424256","https://openalex.org/W4401413800","https://openalex.org/W6788017740"],"related_works":["https://openalex.org/W2196801576","https://openalex.org/W3034881631","https://openalex.org/W4381737315","https://openalex.org/W80236471","https://openalex.org/W2788434134","https://openalex.org/W2744818472","https://openalex.org/W1515399142","https://openalex.org/W2699559358","https://openalex.org/W4402911998","https://openalex.org/W4300849399"],"abstract_inverted_index":{"In":[0],"this":[1,68,130],"paper,":[2],"we":[3,52,70,122,132,143,158],"present":[4],"a":[5,23,83,97,137,160],"method":[6,32],"to":[7,17,56,87,177],"enable":[8,88],"the":[9,60,72,75,102,105,110,113,134,148,154,168,186,194,199],"Stretch":[10,61,200],"robot,":[11],"developed":[12],"by":[13],"Hello":[14],"Robots":[15],"Inc.,":[16],"perform":[18],"letter":[19,203],"writing":[20,204],"tasks":[21],"in":[22,40,116,163,180,192],"predefined":[24],"configuration,":[25],"using":[26],"its":[27,64],"telescopic":[28],"arm":[29],"gripper.":[30],"Our":[31],"leverages":[33],"inverse-forward":[34,114],"kinematics":[35,115],"techniques":[36],"and":[37,43,119,152,196],"is":[38],"implemented":[39],"both":[41,117],"Python":[42],"MATLAB":[44],"for":[45,49,101],"simulation":[46,118],"purposes":[47],"while,":[48],"real-world":[50,120,181],"applications,":[51],"solely":[53],"utilize":[54],"Python,":[55],"interface":[57],"directly":[58],"with":[59,82,151,170],"robot":[62,201],"through":[63],"SDK.":[65],"To":[66,128],"facilitate":[67],"capability,":[69],"modify":[71],"description":[73],"of":[74,104,112,136,188,198],"Stretch,":[76],"incorporating":[77],"14":[78],"distinct":[79],"parts":[80],"along":[81],"virtual":[84,93],"base":[85,90,94,106,126],"component":[86],"controlled":[89],"movement.":[91,127],"This":[92,183],"acts":[95],"as":[96],"prismatic":[98],"joint,":[99],"allowing":[100],"adjustment":[103],"position.":[107],"However,":[108],"during":[109,202],"implementation":[111],"scenarios,":[121],"encountered":[123],"an":[124,171],"unexpected":[125],"address":[129],"issue,":[131],"propose":[133],"use":[135],"threshold,":[138,169],"mitigating":[139],"such":[140],"behavior.":[141],"Moreover,":[142],"provide":[144],"detailed":[145],"insights":[146],"into":[147],"results":[149],"obtained":[150],"without":[153],"proposed":[155,190],"threshold.":[156],"Specifically,":[157],"observe":[159],"significant":[161],"reduction":[162],"precision":[164],"errors":[165],"when":[166],"employing":[167],"average":[172],"decreasing":[173],"from":[174],"7.4":[175],"cm":[176,179],"0.2":[178],"scenarios.":[182],"improvement":[184],"underscores":[185],"efficacy":[187],"our":[189],"approach":[191],"enhancing":[193],"accuracy":[195],"stability":[197],"tasks.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
