{"id":"https://openalex.org/W4399884194","doi":"https://doi.org/10.3390/robotics13060094","title":"Physically Motivated Model of a Painting Brush for Robotic Painting and Calligraphy","display_name":"Physically Motivated Model of a Painting Brush for Robotic Painting and Calligraphy","publication_year":2024,"publication_date":"2024-06-20","ids":{"openalex":"https://openalex.org/W4399884194","doi":"https://doi.org/10.3390/robotics13060094"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13060094","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13060094","pdf_url":"https://www.mdpi.com/2218-6581/13/6/94/pdf?version=1718883101","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/2218-6581/13/6/94/pdf?version=1718883101","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024590770","display_name":"\u0410\u0440\u0442\u0443\u0440 \u041a\u0430\u0440\u0438\u043c\u043e\u0432","orcid":"https://orcid.org/0000-0002-2591-0962"},"institutions":[{"id":"https://openalex.org/I41518628","display_name":"Saint Petersburg State Electrotechnical University","ror":"https://ror.org/023bq8521","country_code":"RU","type":"education","lineage":["https://openalex.org/I41518628"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Artur Karimov","raw_affiliation_strings":["Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia"],"raw_orcid":"https://orcid.org/0000-0002-2591-0962","affiliations":[{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]},{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099161787","display_name":"Maksim Strelnikov","orcid":"https://orcid.org/0009-0008-4438-0646"},"institutions":[{"id":"https://openalex.org/I41518628","display_name":"Saint Petersburg State Electrotechnical University","ror":"https://ror.org/023bq8521","country_code":"RU","type":"education","lineage":["https://openalex.org/I41518628"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Maksim Strelnikov","raw_affiliation_strings":["Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia"],"raw_orcid":"https://orcid.org/0009-0008-4438-0646","affiliations":[{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]},{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016929474","display_name":"S Mazin","orcid":"https://orcid.org/0009-0000-9489-2895"},"institutions":[{"id":"https://openalex.org/I41518628","display_name":"Saint Petersburg State Electrotechnical University","ror":"https://ror.org/023bq8521","country_code":"RU","type":"education","lineage":["https://openalex.org/I41518628"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergei Mazin","raw_affiliation_strings":["Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia"],"raw_orcid":"https://orcid.org/0009-0000-9489-2895","affiliations":[{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]},{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092266391","display_name":"Dmitriy S. Goryunov","orcid":"https://orcid.org/0009-0003-8009-8940"},"institutions":[{"id":"https://openalex.org/I41518628","display_name":"Saint Petersburg State Electrotechnical University","ror":"https://ror.org/023bq8521","country_code":"RU","type":"education","lineage":["https://openalex.org/I41518628"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dmitriy Goryunov","raw_affiliation_strings":["Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia"],"raw_orcid":"https://orcid.org/0009-0003-8009-8940","affiliations":[{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]},{"raw_affiliation_string":"Youth Research Institute, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101975926","display_name":"Sergey Leonov","orcid":"https://orcid.org/0000-0001-8324-258X"},"institutions":[{"id":"https://openalex.org/I41518628","display_name":"Saint Petersburg State Electrotechnical University","ror":"https://ror.org/023bq8521","country_code":"RU","type":"education","lineage":["https://openalex.org/I41518628"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergey Leonov","raw_affiliation_strings":["Public Relations Department, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","Public Relations Department, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia"],"raw_orcid":"https://orcid.org/0000-0001-8324-258X","affiliations":[{"raw_affiliation_string":"Public Relations Department, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]},{"raw_affiliation_string":"Public Relations Department, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075024454","display_name":"\u0414\u0435\u043d\u0438\u0441 \u0411\u0443\u0442\u0443\u0441\u043e\u0432","orcid":"https://orcid.org/0000-0002-8941-4220"},"institutions":[{"id":"https://openalex.org/I41518628","display_name":"Saint Petersburg State Electrotechnical University","ror":"https://ror.org/023bq8521","country_code":"RU","type":"education","lineage":["https://openalex.org/I41518628"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Denis Butusov","raw_affiliation_strings":["Computer-Aided Design Department, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","Computer-Aided Design Department, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia"],"raw_orcid":"https://orcid.org/0000-0002-8941-4220","affiliations":[{"raw_affiliation_string":"Computer-Aided Design Department, Saint Petersburg Electrotechnical University \u201cLETI\u201d, Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]},{"raw_affiliation_string":"Computer-Aided Design Department, Saint Petersburg Electrotechnical University \"LETI\", Saint Petersburg 197022, Russia","institution_ids":["https://openalex.org/I41518628"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5024590770","https://openalex.org/A5075024454"],"corresponding_institution_ids":["https://openalex.org/I41518628"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.5002,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.8189184,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"13","issue":"6","first_page":"94","last_page":"94"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.994700014591217,"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":0.994700014591217,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9900000095367432,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/brush","display_name":"Brush","score":0.9837644100189209},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.5847466588020325},{"id":"https://openalex.org/keywords/painting","display_name":"Painting","score":0.564361572265625},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5256308913230896},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5220096707344055},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4959140717983246},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4915202558040619},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47231337428092957},{"id":"https://openalex.org/keywords/calligraphy","display_name":"Calligraphy","score":0.44363221526145935},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.3870573043823242},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2302004098892212},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.18911096453666687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18901637196540833},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.18529629707336426},{"id":"https://openalex.org/keywords/visual-arts","display_name":"Visual arts","score":0.16029012203216553}],"concepts":[{"id":"https://openalex.org/C16108499","wikidata":"https://www.wikidata.org/wiki/Q1713927","display_name":"Brush","level":2,"score":0.9837644100189209},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.5847466588020325},{"id":"https://openalex.org/C205783811","wikidata":"https://www.wikidata.org/wiki/Q11629","display_name":"Painting","level":2,"score":0.564361572265625},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5256308913230896},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5220096707344055},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4959140717983246},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4915202558040619},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47231337428092957},{"id":"https://openalex.org/C526940114","wikidata":"https://www.wikidata.org/wiki/Q12681","display_name":"Calligraphy","level":3,"score":0.44363221526145935},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.3870573043823242},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2302004098892212},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.18911096453666687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18901637196540833},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.18529629707336426},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.16029012203216553},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13060094","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13060094","pdf_url":"https://www.mdpi.com/2218-6581/13/6/94/pdf?version=1718883101","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:72b4214a59fc43afa3d055f8ca2edfde","is_oa":true,"landing_page_url":"https://doaj.org/article/72b4214a59fc43afa3d055f8ca2edfde","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 13, Iss 6, p 94 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13060094","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13060094","pdf_url":"https://www.mdpi.com/2218-6581/13/6/94/pdf?version=1718883101","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":[],"awards":[{"id":"https://openalex.org/G5167330815","display_name":null,"funder_award_id":"22-79-00171","funder_id":"https://openalex.org/F4320324099","funder_display_name":"Russian Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320324099","display_name":"Russian Science Foundation","ror":"https://ror.org/03y2gwe85"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4399884194.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1999353492","https://openalex.org/W1999440997","https://openalex.org/W2078707294","https://openalex.org/W2100350470","https://openalex.org/W2113782866","https://openalex.org/W2116331961","https://openalex.org/W2288344212","https://openalex.org/W2518124367","https://openalex.org/W2888935559","https://openalex.org/W2894187128","https://openalex.org/W2913485141","https://openalex.org/W2963992896","https://openalex.org/W2969917454","https://openalex.org/W3008904349","https://openalex.org/W3012472751","https://openalex.org/W3014731244","https://openalex.org/W3094335732","https://openalex.org/W3113006765","https://openalex.org/W3133059214","https://openalex.org/W4285102546","https://openalex.org/W4321639464","https://openalex.org/W4323075160","https://openalex.org/W4376255078","https://openalex.org/W4380769213","https://openalex.org/W4383066088","https://openalex.org/W4385286176","https://openalex.org/W4388918963","https://openalex.org/W4391514291","https://openalex.org/W4392249540","https://openalex.org/W4399706060","https://openalex.org/W6628953228","https://openalex.org/W6680104429","https://openalex.org/W6774352756"],"related_works":["https://openalex.org/W2368991273","https://openalex.org/W3132096423","https://openalex.org/W2039782145","https://openalex.org/W2391960051","https://openalex.org/W2389028006","https://openalex.org/W2386906843","https://openalex.org/W2390048563","https://openalex.org/W2245961799","https://openalex.org/W2391889134","https://openalex.org/W2377580491"],"abstract_inverted_index":{"Robot":[0],"artistic":[1,200],"painting":[2,14,128],"and":[3,13,37,75,109,131,157,204,223],"robot":[4,15],"calligraphy":[5],"do":[6],"require":[7],"brush":[8,24,34,49,55,101,115,119,134,151,160,172,182,201],"models":[9],"for":[10,80,113,186,197],"brushstroke":[11,189,216],"simulation":[12],"control.":[16],"One":[17],"of":[18,22,66,72,99,167,177,213],"the":[19,23,30,33,38,42,48,54,64,77,81,90,93,100,114,159,164,168,171,175,178,211],"main":[20],"features":[21],"is":[25,184],"its":[26],"compliance,":[27],"which":[28],"describes":[29],"relationship":[31],"between":[32],"footprint":[35,50],"shape":[36,135],"pressure":[39],"applied":[40],"to":[41,174],"brush.":[43],"In":[44,92],"addition,":[45],"during":[46,155],"motion,":[47,104],"position":[51,57],"lags":[52],"from":[53,170],"handle":[56],"in":[58,89,206],"a":[59,68,122,126,133,139,188,195,198,225,228],"complicated":[60],"manner.":[61],"To":[62],"date,":[63],"question":[65],"creating":[67,187],"physically":[69],"correct":[70],"model":[71,82,116,196],"these":[73],"effects":[74],"choosing":[76],"best":[78],"method":[79],"parameter":[83],"calibration":[84,129,144],"has":[85],"not":[86],"been":[87],"presented":[88],"literature.":[91],"current":[94],"paper,":[95],"we":[96,142],"derive":[97],"equations":[98],"contact":[102,152,179],"patch":[103,153],"give":[105,146],"their":[106],"closed-form":[107],"solutions,":[108],"investigate":[110],"three":[111,207],"methods":[112],"calibration:":[117],"capturing":[118,132,158],"footprints":[120,183],"on":[121,150],"matte":[123],"glass":[124],"with":[125,138],"camera,":[127],"brushstrokes,":[130],"side":[136,161],"projection":[137,162],"camera.":[140],"As":[141,192],"show,":[143],"brushstrokes":[145],"us":[147],"primary":[148],"information":[149],"displacement":[154],"painting,":[156],"allows":[163],"accurate":[165],"estimation":[166],"gap":[169],"tip":[173],"center":[176,217],"patch.":[180],"Capturing":[181],"useful":[185],"executable":[190],"model.":[191],"an":[193,214,220],"example,":[194],"round":[199],"was":[202],"created":[203],"verified":[205],"tests,":[208],"including":[209],"measuring":[210],"coordinates":[212],"angular":[215,221],"line,":[218],"simulating":[219],"brushstroke,":[222],"writing":[224],"signature":[226],"using":[227],"robotic":[229],"setup.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}