{"id":"https://openalex.org/W2129980106","doi":"https://doi.org/10.1109/robot.2004.1302546","title":"A task frame formalism for practical implementations","display_name":"A task frame formalism for practical implementations","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2129980106","doi":"https://doi.org/10.1109/robot.2004.1302546","mag":"2129980106"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5018921223","display_name":"Torsten Kr\u00f6ger","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Kroger","raw_affiliation_strings":["Institute for Robotics and Process Control, Braunschweig Technical University, Germany","Institute for Robotics and Process Control, Braunschweig Technical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Process Control, Braunschweig Technical University, Germany","institution_ids":["https://openalex.org/I94509681"]},{"raw_affiliation_string":"Institute for Robotics and Process Control, Braunschweig Technical University","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050576777","display_name":"Bernd Finkemeyer","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Finkemeyer","raw_affiliation_strings":["Institute for Robotics and Process Control, Braunschweig Technical University, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Process Control, Braunschweig Technical University, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074832005","display_name":"Friedrich M. Wahl","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F.M. Wahl","raw_affiliation_strings":["Institute for Robotics and Process Control, Braunschweig Technical University, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Robotics and Process Control, Braunschweig Technical University, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I94509681"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"5218","last_page":"5223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9916999936103821,"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":0.9700999855995178,"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/computer-science","display_name":"Computer science","score":0.7730228304862976},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.7267894744873047},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6867086887359619},{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.663708508014679},{"id":"https://openalex.org/keywords/frame-problem","display_name":"Frame problem","score":0.5401922464370728},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.50383061170578},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5025653839111328},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3960750102996826},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3873021602630615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.336692214012146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07309567928314209}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7730228304862976},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.7267894744873047},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6867086887359619},{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.663708508014679},{"id":"https://openalex.org/C5065155","wikidata":"https://www.wikidata.org/wiki/Q1185775","display_name":"Frame problem","level":2,"score":0.5401922464370728},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.50383061170578},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5025653839111328},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3960750102996826},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3873021602630615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.336692214012146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07309567928314209},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2004.1302546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302546","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.83.6140","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.83.6140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.rob.cs.tu-bs.de/content/03-research/03-publications/download/tkr_2004_06_icra2004.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W172785069","https://openalex.org/W585670370","https://openalex.org/W1555601014","https://openalex.org/W1997520484","https://openalex.org/W2016958754","https://openalex.org/W2034052310","https://openalex.org/W2051205761","https://openalex.org/W2082761088","https://openalex.org/W2098564375","https://openalex.org/W2105660272","https://openalex.org/W2115501876","https://openalex.org/W2141845585","https://openalex.org/W2151992157","https://openalex.org/W2152351276","https://openalex.org/W2159154059","https://openalex.org/W2163540231","https://openalex.org/W2954353577","https://openalex.org/W4229770299","https://openalex.org/W6684156583","https://openalex.org/W6764847176"],"related_works":["https://openalex.org/W2120447654","https://openalex.org/W2977179488","https://openalex.org/W2504004674","https://openalex.org/W2010888474","https://openalex.org/W4243578703","https://openalex.org/W84757477","https://openalex.org/W139249691","https://openalex.org/W1569965715","https://openalex.org/W1544128162","https://openalex.org/W2115164315"],"abstract_inverted_index":{"Mason's":[0],"Task":[1],"Frame":[2],"Formalism":[3],"(TFF)":[4],"is":[5,30,39,110],"supposed":[6],"to":[7,75,78,93,103],"deliver":[8],"robot":[9,59],"application":[10],"programmers":[11],"an":[12,63,100],"intuitive":[13],"and":[14,66],"powerful":[15],"programming":[16],"interface.":[17],"The":[18],"open":[19],"literature":[20],"provides":[21],"many":[22],"theoretic":[23],"approaches,":[24],"but":[25],"almost":[26],"none":[27],"of":[28,43,47],"them":[29],"practicable.":[31],"To":[32],"bring":[33],"these":[34],"research":[35],"results":[36],"into":[37],"practice":[38],"the":[40,79,85,95],"major":[41],"aim":[42],"this":[44,105],"paper.":[45],"Sets":[46],"manipulation":[48],"primitives":[49],"specify":[50],"compliant":[51],"motion":[52],"commands,":[53],"which":[54,73,81],"let":[55],"us":[56],"execute":[57],"complex":[58],"tasks.":[60],"We":[61],"introduce":[62],"appropriate":[64],"notation":[65],"focus":[67],"on":[68,84],"all":[69],"significant":[70],"TFF":[71],"values,":[72],"have":[74],"be":[76],"applied":[77],"transformations,":[80],"are":[82,91],"required":[83],"control":[86,108],"level.":[87],"All":[88],"essential":[89],"calculations":[90],"derived;":[92],"highlight":[94],"meaning":[96],"for":[97],"practical":[98],"implementations,":[99],"example,":[101],"how":[102],"embed":[104],"knowledge":[106],"in":[107],"architectures,":[109],"given.":[111]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
