{"id":"https://openalex.org/W4376255078","doi":"https://doi.org/10.3390/robotics12030072","title":"Robotic Writing of Arbitrary Unicode Characters Using Paintbrushes","display_name":"Robotic Writing of Arbitrary Unicode Characters Using Paintbrushes","publication_year":2023,"publication_date":"2023-05-11","ids":{"openalex":"https://openalex.org/W4376255078","doi":"https://doi.org/10.3390/robotics12030072"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12030072","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030072","pdf_url":"https://www.mdpi.com/2218-6581/12/3/72/pdf?version=1683797855","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/3/72/pdf?version=1683797855","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091928460","display_name":"David Silvan Zingrebe","orcid":"https://orcid.org/0009-0000-2631-8330"},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Silvan Zingrebe","raw_affiliation_strings":["Department of Computer and Information Science, University of Konstanz, 78457 Konstanz, Germany"],"raw_orcid":"https://orcid.org/0009-0000-2631-8330","affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Konstanz, 78457 Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067094193","display_name":"J\u00f6rg Marvin G\u00fclzow","orcid":"https://orcid.org/0000-0003-0284-762X"},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"J\u00f6rg Marvin G\u00fclzow","raw_affiliation_strings":["Department of Computer and Information Science, University of Konstanz, 78457 Konstanz, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0284-762X","affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Konstanz, 78457 Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036489223","display_name":"Oliver Deu\u00dfen","orcid":"https://orcid.org/0000-0001-5803-2185"},"institutions":[{"id":"https://openalex.org/I189712700","display_name":"University of Konstanz","ror":"https://ror.org/0546hnb39","country_code":"DE","type":"education","lineage":["https://openalex.org/I189712700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Deussen","raw_affiliation_strings":["Department of Computer and Information Science, University of Konstanz, 78457 Konstanz, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer and Information Science, University of Konstanz, 78457 Konstanz, Germany","institution_ids":["https://openalex.org/I189712700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5067094193"],"corresponding_institution_ids":["https://openalex.org/I189712700"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1939,"currency":"EUR","value_usd":2091},"fwci":0.6866,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68698742,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"12","issue":"3","first_page":"72","last_page":"72"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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/T10601","display_name":"Handwritten Text Recognition Techniques","score":0.9951000213623047,"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/T10789","display_name":"Interactive and Immersive Displays","score":0.9905999898910522,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/handwriting","display_name":"Handwriting","score":0.8450067639350891},{"id":"https://openalex.org/keywords/calligraphy","display_name":"Calligraphy","score":0.7622344493865967},{"id":"https://openalex.org/keywords/typeface","display_name":"Typeface","score":0.7578175067901611},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7408413887023926},{"id":"https://openalex.org/keywords/scripting-language","display_name":"Scripting language","score":0.6363877654075623},{"id":"https://openalex.org/keywords/brush","display_name":"Brush","score":0.6109356880187988},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5093485116958618},{"id":"https://openalex.org/keywords/writing-style","display_name":"Writing style","score":0.42910879850387573},{"id":"https://openalex.org/keywords/ranking","display_name":"Ranking (information retrieval)","score":0.42673587799072266},{"id":"https://openalex.org/keywords/stylus","display_name":"Stylus","score":0.42109352350234985},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3920849561691284},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3590061366558075},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34580785036087036},{"id":"https://openalex.org/keywords/painting","display_name":"Painting","score":0.3053240180015564},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.15569940209388733},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.1154714822769165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11490893363952637}],"concepts":[{"id":"https://openalex.org/C2779386606","wikidata":"https://www.wikidata.org/wiki/Q2393642","display_name":"Handwriting","level":2,"score":0.8450067639350891},{"id":"https://openalex.org/C526940114","wikidata":"https://www.wikidata.org/wiki/Q12681","display_name":"Calligraphy","level":3,"score":0.7622344493865967},{"id":"https://openalex.org/C80797182","wikidata":"https://www.wikidata.org/wiki/Q17451","display_name":"Typeface","level":2,"score":0.7578175067901611},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7408413887023926},{"id":"https://openalex.org/C61423126","wikidata":"https://www.wikidata.org/wiki/Q187432","display_name":"Scripting language","level":2,"score":0.6363877654075623},{"id":"https://openalex.org/C16108499","wikidata":"https://www.wikidata.org/wiki/Q1713927","display_name":"Brush","level":2,"score":0.6109356880187988},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5093485116958618},{"id":"https://openalex.org/C13622073","wikidata":"https://www.wikidata.org/wiki/Q2243831","display_name":"Writing style","level":2,"score":0.42910879850387573},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.42673587799072266},{"id":"https://openalex.org/C164086593","wikidata":"https://www.wikidata.org/wiki/Q1227035","display_name":"Stylus","level":2,"score":0.42109352350234985},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3920849561691284},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3590061366558075},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34580785036087036},{"id":"https://openalex.org/C205783811","wikidata":"https://www.wikidata.org/wiki/Q11629","display_name":"Painting","level":2,"score":0.3053240180015564},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.15569940209388733},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.1154714822769165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11490893363952637},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics12030072","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030072","pdf_url":"https://www.mdpi.com/2218-6581/12/3/72/pdf?version=1683797855","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:8f05f51255c340f0a96fb42c5a23430f","is_oa":true,"landing_page_url":"https://doaj.org/article/8f05f51255c340f0a96fb42c5a23430f","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":"Robotics, Vol 12, Iss 3, p 72 (2023)","raw_type":"article"},{"id":"pmh:oai:kops.uni-konstanz.de:123456789/66922","is_oa":true,"landing_page_url":"http://nbn-resolving.de/urn:nbn:de:bsz:352-2-c2turfc4oduf0","pdf_url":null,"source":{"id":"https://openalex.org/S4306401487","display_name":"KOPS (University of Konstanz)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I189712700","host_organization_name":"University of Konstanz","host_organization_lineage":["https://openalex.org/I189712700"],"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":"Robotics. MDPI. 2023, 12(3), 72. eISSN 2218-6581. Verf\u00fcgbar unter: doi: 10.3390/robotics12030072","raw_type":"doc-type:Text"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/3/72/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12030072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics; Volume 12; Issue 3; Pages: 72","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12030072","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12030072","pdf_url":"https://www.mdpi.com/2218-6581/12/3/72/pdf?version=1683797855","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8500000238418579,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4376255078.pdf"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W1964362777","https://openalex.org/W1990019321","https://openalex.org/W1999353492","https://openalex.org/W2019920316","https://openalex.org/W2039367092","https://openalex.org/W2046747440","https://openalex.org/W2078707294","https://openalex.org/W2088472827","https://openalex.org/W2137482573","https://openalex.org/W2143053633","https://openalex.org/W2474143829","https://openalex.org/W2513329692","https://openalex.org/W2858940943","https://openalex.org/W2900830529","https://openalex.org/W2913947428","https://openalex.org/W2969917454","https://openalex.org/W2997967268","https://openalex.org/W3012472751","https://openalex.org/W3025734657","https://openalex.org/W3113006765","https://openalex.org/W3123021454","https://openalex.org/W4235119482","https://openalex.org/W4291000582","https://openalex.org/W4323075160","https://openalex.org/W6637968109"],"related_works":["https://openalex.org/W2239144375","https://openalex.org/W2806416407","https://openalex.org/W2386452680","https://openalex.org/W2784300307","https://openalex.org/W1964298677","https://openalex.org/W2359545126","https://openalex.org/W2384920855","https://openalex.org/W2378323650","https://openalex.org/W2162900849","https://openalex.org/W4376255078"],"abstract_inverted_index":{"Human":[0],"handwriting":[1],"is":[2],"an":[3],"everyday":[4],"task":[5],"performed":[6],"regularly":[7],"by":[8,97,141,160],"most":[9,33,172],"people.":[10],"In":[11,65,88],"the":[12,66,89,103,110,116,134],"domain":[13],"of":[14,28,41,73],"robotic":[15,162],"painting,":[16],"multiple":[17],"calligraphy":[18],"machines":[19],"exist":[20],"which":[21,78,180],"were":[22],"built":[23],"to":[24,37,55,81,102,114,131,137,186],"replicate":[25],"some":[26],"aspects":[27],"human":[29],"artistic":[30],"writing;":[31],"however,":[32],"projects":[34],"are":[35,79],"limited":[36],"a":[38,48,71,99,129,161],"specific":[39],"style":[40],"handwriting,":[42],"often":[43],"Chinese":[44],"calligraphy.":[45],"We":[46,126,169],"propose":[47],"two-stage":[49],"pipeline":[50],"that":[51],"allows":[52],"industrial":[53],"robots":[54],"write":[56],"text":[57,152],"in":[58,153,165,179],"arbitrary":[59,181],"typefaces":[60],"and":[61,143,177],"scripts":[62],"using":[63],"paintbrushes.":[64],"first":[67],"stage,":[68,91],"we":[69,92],"extract":[70],"set":[72],"strokes":[74,85],"from":[75],"character":[76],"glyphs":[77],"similar":[80],"how":[82],"humans":[83],"choose":[84],"during":[86],"writing.":[87],"second":[90],"generate":[93],"corresponding":[94],"brush":[95,100,107,112,124,139],"trajectories":[96,150],"applying":[98],"model":[101,108],"extracted":[104],"strokes.":[105],"Our":[106,147],"computes":[109],"required":[111],"pressure":[113],"achieve":[115],"given":[117,155],"stroke":[118],"width":[119],"while":[120],"also":[121,127],"accounting":[122],"for":[123,151],"lag.":[125],"present":[128],"method":[130,148],"automatically":[132],"measure":[133],"parameters":[135],"needed":[136],"predict":[138],"lag":[140],"painting":[142],"recording":[144],"calibration":[145],"patterns.":[146],"generates":[149],"any":[154],"typeface,":[156],"which,":[157],"when":[158],"executed":[159],"arm,":[163],"results":[164],"legible":[166],"written":[167],"text.":[168],"can":[170,183],"render":[171],"writing":[173],"systems,":[174],"excluding":[175],"emoji":[176],"ligatures,":[178],"texts":[182],"be":[184],"specified":[185],"write.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-14T07:44:22.658603","created_date":"2023-05-13T00:00:00"}