{"id":"https://openalex.org/W4412414320","doi":"https://doi.org/10.3389/frobt.2025.1574110","title":"Versatile kinematics-based constraint identification applied to robot task reproduction","display_name":"Versatile kinematics-based constraint identification applied to robot task reproduction","publication_year":2025,"publication_date":"2025-07-15","ids":{"openalex":"https://openalex.org/W4412414320","doi":"https://doi.org/10.3389/frobt.2025.1574110","pmid":"https://pubmed.ncbi.nlm.nih.gov/40735746"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1574110","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1574110","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1574110/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1574110/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Alex H. G. Overbeek","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Alex H. G. Overbeek","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023470200","display_name":"Douwe Dresscher","orcid":"https://orcid.org/0000-0002-5315-9029"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Douwe Dresscher","raw_affiliation_strings":["Department of Robotics and Mechatronics, University of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics and Mechatronics, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083232835","display_name":"Herman van der Kooij","orcid":"https://orcid.org/0000-0002-7926-3262"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Herman van der Kooij","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077769356","display_name":"Mark Vlutters","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mark Vlutters","raw_affiliation_strings":["Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":{"value":1950,"currency":"CHF","value_usd":2353},"apc_paid":{"value":1950,"currency":"CHF","value_usd":2353},"fwci":1.276,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.78886213,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":"12","issue":null,"first_page":"1574110","last_page":"1574110"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9614999890327454,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9588000178337097,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7371515035629272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6903523802757263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.65671306848526},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6483643651008606},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.49066102504730225},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45876994729042053},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44031909108161926},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4351643919944763},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41199034452438354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19240164756774902},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14687097072601318},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07662591338157654}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7371515035629272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6903523802757263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.65671306848526},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6483643651008606},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.49066102504730225},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45876994729042053},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44031909108161926},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4351643919944763},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41199034452438354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19240164756774902},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14687097072601318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07662591338157654},{"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3389/frobt.2025.1574110","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1574110","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1574110/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:40735746","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40735746","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":"Journal Article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/7a014e48-829d-4757-8506-4e1fc663d007","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/7a014e48-829d-4757-8506-4e1fc663d007","pdf_url":"https://ris.utwente.nl/ws/files/514001136/frobt-12-1574110.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","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":"Overbeek, A H G, Dresscher, D, van der Kooij, H & Vlutters, M 2025, 'Versatile Kinematics-Based Constraint Identification Applied to Robot Task Reproduction', Frontiers in robotics and AI, vol. 12, 1574110. https://doi.org/10.3389/frobt.2025.1574110","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:pubmedcentral.nih.gov:12303821","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12303821","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:45c4bd5c34464247a4534226545ae8a5","is_oa":true,"landing_page_url":"https://doaj.org/article/45c4bd5c34464247a4534226545ae8a5","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 12 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1574110","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1574110","pdf_url":"https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2025.1574110/pdf","source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321799","display_name":"Ministerie van Onderwijs, Cultuur en Wetenschap","ror":"https://ror.org/02x3w5g21"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4412414320.pdf","grobid_xml":"https://content.openalex.org/works/W4412414320.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1517508454","https://openalex.org/W1523281138","https://openalex.org/W1529739011","https://openalex.org/W2061623026","https://openalex.org/W2085357055","https://openalex.org/W2097020672","https://openalex.org/W2118730708","https://openalex.org/W2135726043","https://openalex.org/W2143745423","https://openalex.org/W2151992157","https://openalex.org/W2168868109","https://openalex.org/W2171215214","https://openalex.org/W2182585001","https://openalex.org/W2786029688","https://openalex.org/W2955035422","https://openalex.org/W3010890996","https://openalex.org/W3046748421","https://openalex.org/W3133750590","https://openalex.org/W3205150124","https://openalex.org/W4287627749","https://openalex.org/W4292672317","https://openalex.org/W4313327096","https://openalex.org/W4386820094","https://openalex.org/W4393967693","https://openalex.org/W4399469378","https://openalex.org/W4409473931","https://openalex.org/W4412414320","https://openalex.org/W6634048360","https://openalex.org/W6684175427","https://openalex.org/W6749061090","https://openalex.org/W6764969207","https://openalex.org/W6766170616","https://openalex.org/W6859822767"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2391000165","https://openalex.org/W1745761201"],"abstract_inverted_index":{"Identifying":[0],"kinematic":[1],"constraints":[2,58,76,115,133],"between":[3],"a":[4,52,67,89,103,190],"robot":[5,68,153,205],"and":[6,72,128,139,162],"its":[7],"environment":[8],"can":[9,186],"improve":[10],"autonomous":[11],"task":[12,166],"execution,":[13],"for":[14,165],"example,":[15],"in":[16,23,99,159,195,203],"Learning":[17],"from":[18,181],"Demonstration.":[19],"Constraint":[20],"identification":[21,176],"methods":[22,180],"the":[24,92,96,107,113,125,182],"literature":[25],"often":[26],"require":[27],"specific":[28,41],"prior":[29,42,198],"constraint":[30,60,83,157,175,199],"models,":[31],"geometry":[32,126],"or":[33,36,44,69],"noise":[34],"estimates,":[35],"force":[37],"measurements.":[38],"Because":[39],"such":[40,201],"information":[43],"measurements":[45],"are":[46,64,85],"not":[47],"always":[48],"available,":[49],"we":[50,116,123,155],"propose":[51],"versatile":[53],"kinematics-only":[54],"method.":[55],"We":[56],"identify":[57],"using":[59,173],"reference":[61],"frames,":[62],"which":[63,111],"attached":[65],"to":[66,118,146,179,189],"ground":[70],"body":[71],"may":[73],"have":[74],"zero-velocity":[75,114],"along":[77],"their":[78],"axes.":[79],"Given":[80],"measured":[81],"kinematics,":[82],"frames":[84,158],"identified":[86,124,156],"by":[87],"minimizing":[88],"norm":[90],"on":[91],"Cartesian":[93],"components":[94],"of":[95,106,130,193],"velocities":[97,108],"expressed":[98],"that":[100],"frame.":[101],"Thereby,":[102],"minimal":[104],"representation":[105],"is":[109],"found,":[110],"represent":[112],"aim":[117],"find.":[119],"In":[120,152],"simulation":[121],"experiments,":[122,154],"(position":[127],"orientation)":[129],"twelve":[131],"different":[132],"including":[134],"articulated":[135],"contacts,":[136,138],"polyhedral":[137],"contour":[140],"following":[141],"contacts.":[142],"Accuracy":[143],"was":[144,170],"found":[145],"decrease":[147],"linearly":[148],"with":[149],"sensor":[150],"noise.":[151],"various":[160],"tasks":[161],"used":[163],"them":[164],"reproduction.":[167],"Reproduction":[168],"performance":[169],"similar":[171],"when":[172],"our":[174],"method":[177,185],"compared":[178],"literature.":[183],"Our":[184],"be":[187],"applied":[188],"large":[191],"variety":[192],"robots":[194],"environments":[196],"without":[197],"information,":[200],"as":[202],"everyday":[204],"settings.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
