{"id":"https://openalex.org/W4387319296","doi":"https://doi.org/10.1109/tro.2023.3309230","title":"Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact","display_name":"Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact","publication_year":2023,"publication_date":"2023-10-03","ids":{"openalex":"https://openalex.org/W4387319296","doi":"https://doi.org/10.1109/tro.2023.3309230"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3309230","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3309230","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10269543.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10269543.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046950532","display_name":"Maxim Vochten","orcid":"https://orcid.org/0000-0001-5070-846X"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"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":"Maxim Vochten","raw_affiliation_strings":["Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-5070-846X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101523018","display_name":"Ali Mousavi","orcid":"https://orcid.org/0000-0002-7422-4408"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"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":"Ali Mousavi Mohammadi","raw_affiliation_strings":["Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-7422-4408","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066489956","display_name":"Arno Verduyn","orcid":"https://orcid.org/0000-0002-5073-3881"},"institutions":[{"id":"https://openalex.org/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"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":"Arno Verduyn","raw_affiliation_strings":["Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-5073-3881","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]},{"author_position":"middle","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":["Faculty of Engineering Science, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0003-0624-3305","affiliations":[{"raw_affiliation_string":"Faculty of Engineering Science, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"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/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"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":"Erwin Aertbeli\u00ebn","raw_affiliation_strings":["Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0002-4514-0934","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","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/I4210116480","display_name":"Flanders Make (Belgium)","ror":"https://ror.org/02ndjfz59","country_code":"BE","type":"company","lineage":["https://openalex.org/I4210116480"]},{"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":["Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium"],"raw_orcid":"https://orcid.org/0000-0001-9619-5815","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Flanders Make, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I4210116480","https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9293,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71448654,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"39","issue":"6","first_page":"4892","last_page":"4912"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9854999780654907,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.7869644165039062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6166766285896301},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5411666035652161},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5123175382614136},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.47829490900039673},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4262707531452179},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4243842661380768},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3393288850784302},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.2698989808559418},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.18251386284828186}],"concepts":[{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.7869644165039062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6166766285896301},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5411666035652161},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5123175382614136},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.47829490900039673},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4262707531452179},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4243842661380768},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3393288850784302},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2698989808559418},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.18251386284828186},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3309230","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3309230","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10269543.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/727612","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/727612","pdf_url":"https://lirias.kuleuven.be/retrieve/10de50bc-dac8-4c58-afa5-f377901ab5d7","source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions On Robotics, vol. 39 (6), (4892-4912)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/tro.2023.3309230","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tro.2023.3309230","pdf_url":"https://ieeexplore.ieee.org/ielx7/8860/4359257/10269543.pdf","source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3052091567","display_name":null,"funder_award_id":"788298","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387319296.pdf","grobid_xml":"https://content.openalex.org/works/W4387319296.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1542199798","https://openalex.org/W1564897360","https://openalex.org/W1638384496","https://openalex.org/W1943808550","https://openalex.org/W1980232872","https://openalex.org/W1987706960","https://openalex.org/W1993671632","https://openalex.org/W1994351320","https://openalex.org/W2016959837","https://openalex.org/W2028931980","https://openalex.org/W2033291957","https://openalex.org/W2039907488","https://openalex.org/W2041563141","https://openalex.org/W2062963251","https://openalex.org/W2068261640","https://openalex.org/W2086467474","https://openalex.org/W2088775700","https://openalex.org/W2091743831","https://openalex.org/W2110697446","https://openalex.org/W2123871098","https://openalex.org/W2125854396","https://openalex.org/W2137448549","https://openalex.org/W2139119224","https://openalex.org/W2141275328","https://openalex.org/W2145221867","https://openalex.org/W2150292516","https://openalex.org/W2153555705","https://openalex.org/W2164833077","https://openalex.org/W2467730917","https://openalex.org/W2500624988","https://openalex.org/W2502318522","https://openalex.org/W2510824196","https://openalex.org/W2625596139","https://openalex.org/W2766332784","https://openalex.org/W2842089854","https://openalex.org/W2891787464","https://openalex.org/W2910627674","https://openalex.org/W2976955613","https://openalex.org/W3143569053","https://openalex.org/W4285102160","https://openalex.org/W4306631513","https://openalex.org/W7000721216"],"related_works":["https://openalex.org/W2371138613","https://openalex.org/W2048963458","https://openalex.org/W43109613","https://openalex.org/W2359952343","https://openalex.org/W2080152487","https://openalex.org/W2239445980","https://openalex.org/W2995553446","https://openalex.org/W2120455979","https://openalex.org/W2109550041","https://openalex.org/W2061719785"],"abstract_inverted_index":{"Invariant":[0],"descriptors":[1,41,57,81,101,146],"of":[2,55,66,92,116,160],"point":[3],"and":[4,21,51,72,96,135,149,158],"rigid-body":[5],"motion":[6,19,50,148],"trajectories":[7,44,64,151],"have":[8],"been":[9],"proposed":[10,144],"in":[11,34,106,140,168],"the":[12,47,63,79,114,126,143,156],"past":[13],"as":[14,164],"representative":[15],"task":[16,107],"models":[17],"for":[18,28,42,76,125,147,155],"recognition":[20,157],"generalization.":[22],"Currently,":[23],"no":[24],"invariant":[25,40,56,80,100,145],"descriptor":[26],"exists":[27],"representing":[29],"force":[30,43,150],"trajectories,":[31],"which":[32],"appear":[33],"contact":[35],"tasks.":[36],"This":[37],"article":[38],"introduces":[39],"by":[45],"exploiting":[46],"duality":[48],"between":[49],"force.":[52],"Two":[53],"types":[54],"are":[58,74,102],"presented":[59],"depending":[60],"on":[61,113],"whether":[62],"consist":[65],"screw":[67],"or":[68,119],"vector":[69],"coordinates.":[70],"Methods":[71],"software":[73],"provided":[75],"robustly":[77],"calculating":[78],"from":[82],"noisy":[83],"measurements":[84],"using":[85],"optimal":[86,127],"control.":[87],"Using":[88],"experimental":[89],"human":[90],"demonstrations":[91],"3-D":[93],"contour":[94],"following":[95],"peg-on-hole":[97],"alignment":[98],"tasks,":[99],"shown":[103,131],"to":[104,132,138],"result":[105],"representations":[108],"that":[109],"do":[110],"not":[111],"depend":[112],"calibration":[115],"reference":[117],"frames":[118],"sensor":[120],"locations.":[121],"The":[122],"tuning":[123],"process":[124],"control":[128],"problems":[129],"is":[130],"be":[133],"fast":[134],"intuitive.":[136],"Similar":[137],"motions":[139],"free":[141],"space,":[142],"may":[152],"prove":[153],"useful":[154],"generalization":[159],"constrained":[161],"motions,":[162],"such":[163],"during":[165],"object":[166],"manipulation":[167],"contact.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-20T07:56:41.581041","created_date":"2025-10-10T00:00:00"}