{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,30]],"date-time":"2026-05-30T00:28:28Z","timestamp":1780100908758,"version":"3.54.0"},"reference-count":14,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"1","license":[{"start":{"date-parts":[[2013,3,1]],"date-time":"2013-03-01T00:00:00Z","timestamp":1362096000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2013,3,1]],"date-time":"2013-03-01T00:00:00Z","timestamp":1362096000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-009"},{"start":{"date-parts":[[2013,3,1]],"date-time":"2013-03-01T00:00:00Z","timestamp":1362096000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-001"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Automat. Mag."],"published-print":{"date-parts":[[2013,3]]},"DOI":"10.1109\/mra.2012.2205652","type":"journal-article","created":{"date-parts":[[2013,3,20]],"date-time":"2013-03-20T20:38:12Z","timestamp":1363811892000},"page":"84-93","source":"Crossref","is-referenced-by-count":26,"title":["Geometric Relations Between Rigid Bodies (Part 1): Semantics for Standardization"],"prefix":"10.1109","volume":"20","author":[{"given":"Tinne","family":"De Laet","sequence":"first","affiliation":[{"name":"KU Leuven, Heverlee, 3001, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Steven","family":"Bellens","sequence":"additional","affiliation":[{"name":"KU Leuven, Heverlee, 3001, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruben","family":"Smits","sequence":"additional","affiliation":[{"name":"Intermodalics, Heverlee, 3001, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Erwin","family":"Aertbelien","sequence":"additional","affiliation":[{"name":"KU Leuven, Heverlee, 3001, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Herman","family":"Bruyninckx","sequence":"additional","affiliation":[{"name":"KU Leuven, Heverlee, 3001, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joris","family":"De Schutter","sequence":"additional","affiliation":[{"name":"KU Leuven, Heverlee, 3001, Belgium"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref10","article-title":"KDL","author":"smits","year":"2001","journal-title":"Orocos kinematics and dynamics library"},{"key":"ref11","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1016\/S0094-114X(03)00011-9","article-title":"ITFoMM terminology\/English","volume":"38","year":"2003","journal-title":"Mech Mach Theory"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"777","DOI":"10.1016\/S0094-114X(03)00016-8","article-title":"ITFoMM terminology\/English2.1","volume":"38","year":"2003","journal-title":"Mech Mach Theory"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_2"},{"key":"ref14","author":"willow","year":"2008","journal-title":"Robot Operating System (ROS)"},{"key":"ref4","author":"de laet","year":"2012","journal-title":"Semantics Underlying Geometric Relations between Rigid Bodies in Robotics"},{"key":"ref3","author":"ball","year":"1998","journal-title":"A Treatise on the Theory of Screws"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_3"},{"key":"ref5","first-page":"321","article-title":"Note sur les proprietes generales du systeme de deux corps semblables entr'eux et places d'une maniere quelconque dans l'espace; et sur le deplacement fini ou infiniment petit d'un corps solide libre","volume":"14","author":"chasles","year":"1830","journal-title":"Bulletin des Sciences Math ematiques Astronomiques Physiques et Chimiques"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1515\/crll.1830.5.1"},{"key":"ref7","author":"murray","year":"1994","journal-title":"A Mathematical Introduction to Robotic Manipulation"},{"key":"ref2","first-page":"137","article-title":"The theory of screws-a geometrical study of the kinematics, equilibrium, and small oscillations of a rigid body","volume":"25","author":"ball","year":"1871","journal-title":"Trans Roy Irish Acad"},{"key":"ref1","author":"rickert","year":"2009","journal-title":"Robotics Library"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1098\/rstl.1865.0017"}],"container-title":["IEEE Robotics & Automation Magazine"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/100\/6476674\/06476696.pdf?arnumber=6476696","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,6,24]],"date-time":"2022-06-24T19:38:46Z","timestamp":1656099526000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/6476696\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,3]]},"references-count":14,"journal-issue":{"issue":"1"},"URL":"https:\/\/doi.org\/10.1109\/mra.2012.2205652","relation":{},"ISSN":["1070-9932","1558-223X"],"issn-type":[{"value":"1070-9932","type":"print"},{"value":"1558-223X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,3]]}}}