{"id":"https://openalex.org/W1987706960","doi":"https://doi.org/10.1109/mra.2012.2205652","title":"Geometric Relations Between Rigid Bodies (Part 1): Semantics for Standardization","display_name":"Geometric Relations Between Rigid Bodies (Part 1): Semantics for Standardization","publication_year":2013,"publication_date":"2013-03-01","ids":{"openalex":"https://openalex.org/W1987706960","doi":"https://doi.org/10.1109/mra.2012.2205652","mag":"1987706960"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2012.2205652","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2012.2205652","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/6476674/06476696.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/100/6476674/06476696.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067552545","display_name":"Tinne De Laet","orcid":"https://orcid.org/0000-0003-0624-3305"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Tinne De Laet","raw_affiliation_strings":["KU Leuven, Heverlee, 3001, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Heverlee, 3001, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053148944","display_name":"Steven Bellens","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","CA"],"is_corresponding":false,"raw_author_name":"Steven Bellens","raw_affiliation_strings":["KU Leuven, Heverlee, 3001, Belgium","McGill University, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Heverlee, 3001, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013896837","display_name":"Ruben Smits","orcid":null},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ruben Smits","raw_affiliation_strings":["Intermodalics, Heverlee, 3001, Belgium","McGill University, Montreal, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intermodalics, Heverlee, 3001, Belgium","institution_ids":[]},{"raw_affiliation_string":"McGill University, Montreal, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038134638","display_name":"Erwin Aertbeli\u00ebn","orcid":"https://orcid.org/0000-0002-4514-0934"},"institutions":[{"id":"https://openalex.org/I1297460800","display_name":"Defence Research and Development Canada","ror":"https://ror.org/00hgy8d33","country_code":"CA","type":"government","lineage":["https://openalex.org/I1297460800","https://openalex.org/I1336338359","https://openalex.org/I2802286613"]},{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE","CA"],"is_corresponding":false,"raw_author_name":"Erwin Aertbelien","raw_affiliation_strings":["KU Leuven, Heverlee, 3001, Belgium","DRDC Atlantic Research Centre, Halifax, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Heverlee, 3001, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"DRDC Atlantic Research Centre, Halifax, Canada","institution_ids":["https://openalex.org/I1297460800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009116988","display_name":"Herman Bruyninckx","orcid":"https://orcid.org/0000-0003-3776-1025"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Herman Bruyninckx","raw_affiliation_strings":["KU Leuven, Heverlee, 3001, Belgium","Katholieke Universiteit Leuven, Leuven, Flanders, BE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Heverlee, 3001, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Katholieke Universiteit Leuven, Leuven, Flanders, BE","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris De Schutter","raw_affiliation_strings":["KU Leuven, Heverlee, 3001, Belgium","Katholieke Universiteit Leuven, Leuven, Flanders, BE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven, Heverlee, 3001, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Katholieke Universiteit Leuven, Leuven, Flanders, BE","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.5367,"has_fulltext":true,"cited_by_count":34,"citation_normalized_percentile":{"value":0.98121982,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"20","issue":"1","first_page":"84","last_page":"93"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9986000061035156,"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":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958000183105469,"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":0.9879000186920166,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7692701816558838},{"id":"https://openalex.org/keywords/standardization","display_name":"Standardization","score":0.7015213966369629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6450461149215698},{"id":"https://openalex.org/keywords/terminology","display_name":"Terminology","score":0.5749917030334473},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.5580033659934998},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5540357828140259},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5021193027496338},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.486227422952652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48324570059776306},{"id":"https://openalex.org/keywords/coordinate-system","display_name":"Coordinate system","score":0.4438607692718506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4418134093284607},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4415159225463867},{"id":"https://openalex.org/keywords/operational-semantics","display_name":"Operational semantics","score":0.43149203062057495},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41652730107307434},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.4083336889743805},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3563300669193268},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3328101634979248},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18283748626708984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16192859411239624},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11333003640174866}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7692701816558838},{"id":"https://openalex.org/C188087704","wikidata":"https://www.wikidata.org/wiki/Q369577","display_name":"Standardization","level":2,"score":0.7015213966369629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6450461149215698},{"id":"https://openalex.org/C547195049","wikidata":"https://www.wikidata.org/wiki/Q1725664","display_name":"Terminology","level":2,"score":0.5749917030334473},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.5580033659934998},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5540357828140259},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5021193027496338},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.486227422952652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48324570059776306},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.4438607692718506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4418134093284607},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4415159225463867},{"id":"https://openalex.org/C156325763","wikidata":"https://www.wikidata.org/wiki/Q1930895","display_name":"Operational semantics","level":3,"score":0.43149203062057495},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41652730107307434},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.4083336889743805},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3563300669193268},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3328101634979248},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18283748626708984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16192859411239624},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11333003640174866},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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":1,"locations":[{"id":"doi:10.1109/mra.2012.2205652","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2012.2205652","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/6476674/06476696.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/mra.2012.2205652","is_oa":true,"landing_page_url":"https://doi.org/10.1109/mra.2012.2205652","pdf_url":"https://ieeexplore.ieee.org/ielx7/100/6476674/06476696.pdf","source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"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 & Automation Magazine","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3228269378","display_name":null,"funder_award_id":"BOF PFV/10/002","funder_id":"https://openalex.org/F4320322308","funder_display_name":"KU Leuven"},{"id":"https://openalex.org/G8829997307","display_name":null,"funder_award_id":"PFV/10/002","funder_id":"https://openalex.org/F4320322308","funder_display_name":"KU Leuven"}],"funders":[{"id":"https://openalex.org/F4320322308","display_name":"KU Leuven","ror":"https://ror.org/05f950310"},{"id":"https://openalex.org/F4320327336","display_name":"Vlaamse regering","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1987706960.pdf","grobid_xml":"https://content.openalex.org/works/W1987706960.grobid-xml"},"referenced_works_count":9,"referenced_works":["https://openalex.org/W1485633210","https://openalex.org/W1564897360","https://openalex.org/W2095421939","https://openalex.org/W2147180865","https://openalex.org/W2917363624","https://openalex.org/W4229777918","https://openalex.org/W4230912933","https://openalex.org/W4252838624","https://openalex.org/W4254057022"],"related_works":["https://openalex.org/W3008339103","https://openalex.org/W2404647514","https://openalex.org/W1667647204","https://openalex.org/W3119814709","https://openalex.org/W2018477250","https://openalex.org/W1508895727","https://openalex.org/W4241418540","https://openalex.org/W2725786787","https://openalex.org/W4283160672","https://openalex.org/W2104890704"],"abstract_inverted_index":{"This":[0,29],"tutorial":[1],"explicitly":[2],"states":[3],"the":[4,17,71],"semantics":[5],"of":[6,25,34,56],"all":[7,16,57],"coordinate-":[8],"invariant":[9],"properties":[10],"and":[11,40],"operations,":[12],"and,":[13],"more":[14],"importantly,":[15],"choices":[18],"that":[19],"are":[20],"made":[21],"in":[22,31],"coordinate":[23,62],"representations":[24],"these":[26],"geometric":[27,58],"relations.":[28],"results":[30],"a":[32,80],"set":[33],"concrete":[35,65],"suggestions":[36],"for":[37,53,67,83],"standardizing":[38],"terminology":[39],"notation,":[41],"allowing":[42],"programmers":[43],"to":[44],"write":[45],"fully":[46],"unambiguous":[47],"software":[48],"interfaces,":[49],"including":[50],"automatic":[51],"checks":[52],"semantic":[54],"correctness":[55],"operations":[59],"on":[60],"rigid-body":[61],"representations.":[63],"A":[64],"proposal":[66],"community-driven":[68],"standardization":[69],"via":[70],"Robot":[72],"Engineering":[73],"Task":[74],"Force":[75],"[4]":[76],"is":[77],"accepted":[78],"as":[79],"Robotics":[81],"Request":[82],"Comment.":[84]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}