{"id":"https://openalex.org/W2019901401","doi":"https://doi.org/10.1109/humanoids.2011.6100856","title":"Imitating human reaching motions using physically inspired optimization principles","display_name":"Imitating human reaching motions using physically inspired optimization principles","publication_year":2011,"publication_date":"2011-10-01","ids":{"openalex":"https://openalex.org/W2019901401","doi":"https://doi.org/10.1109/humanoids.2011.6100856","mag":"2019901401"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2011.6100856","doi":"https://doi.org/10.1109/humanoids.2011.6100856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2011.6100856","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 11th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029758616","display_name":"Sebastian Albrecht","orcid":"https://orcid.org/0000-0002-3647-4043","observed_orcids":["https://orcid.org/0000-0002-3647-4043"]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Albrecht","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085467629","display_name":"Karinne Ram\u00edrez-Amaro","orcid":"https://orcid.org/0000-0003-4600-1722","observed_orcids":["https://orcid.org/0000-0003-4600-1722"]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Ramirez-Amaro","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024489389","display_name":"Federico Ruiz Ugalde","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Ruiz-Ugalde","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006062873","display_name":"David Weikersdorfer","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Weikersdorfer","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600","observed_orcids":["https://orcid.org/0000-0002-2802-5600"]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Leibold","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014423708","display_name":"Michael Ulbrich","orcid":"https://orcid.org/0000-0002-4320-8616","observed_orcids":["https://orcid.org/0000-0002-4320-8616"]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Ulbrich","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444","observed_orcids":["https://orcid.org/0000-0002-7888-7444"]},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Beetz","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.0774,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.92217788,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"602","last_page":"607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.6064000129699707,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.6064000129699707,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.133200004696846,"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/T10868","display_name":"Soft Robotics and Applications","score":0.04800000041723251,"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/humanoid-robots","display_name":"humanoid robots","score":0.6710000038146973},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.8640000224113464},{"id":"https://openalex.org/keywords/bi-level-optimization","display_name":"bi-level optimization","score":0.9100000262260437},{"id":"https://openalex.org/keywords/human-motion-tracking","display_name":"human motion tracking","score":0.6690000295639038},{"id":"https://openalex.org/keywords/markerless-motion-capture","display_name":"markerless motion capture","score":0.8309999704360962},{"id":"https://openalex.org/keywords/trajectory-clustering","display_name":"trajectory clustering","score":0.6539999842643738},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.6069999933242798},{"id":"https://openalex.org/keywords/trajectory-generation","display_name":"trajectory generation","score":0.36800000071525574}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9706031084060669},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7998549938201904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6689786911010742},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6319084167480469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5970718264579773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5825163125991821},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.5034112334251404},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.41959941387176514},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39515379071235657},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38627636432647705}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2011.6100856","doi":"https://doi.org/10.1109/humanoids.2011.6100856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2011.6100856","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 11th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1118214","doi":null,"is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1118214","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},{"id":"mag:2760738329","doi":null,"is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1118214","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"IEEE-RAS International Conference on Humanoid Robots","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W603930492","https://openalex.org/W1540685400","https://openalex.org/W1546687379","https://openalex.org/W1588628884","https://openalex.org/W1779974355","https://openalex.org/W1885639605","https://openalex.org/W1956636948","https://openalex.org/W1980440818","https://openalex.org/W1997401004","https://openalex.org/W1999874108","https://openalex.org/W2003155905","https://openalex.org/W2024004911","https://openalex.org/W2029776687","https://openalex.org/W2037997802","https://openalex.org/W2064527819","https://openalex.org/W2077247990","https://openalex.org/W2078046413","https://openalex.org/W2091921805","https://openalex.org/W2098774185","https://openalex.org/W2101129846","https://openalex.org/W2103254706","https://openalex.org/W2110525007","https://openalex.org/W2116039916","https://openalex.org/W2119017298","https://openalex.org/W2123487791","https://openalex.org/W2123871098","https://openalex.org/W2126683783","https://openalex.org/W2130726249","https://openalex.org/W2137650055","https://openalex.org/W2142326524","https://openalex.org/W2154280311","https://openalex.org/W2155851483","https://openalex.org/W2157728668","https://openalex.org/W2169498096","https://openalex.org/W2171137737","https://openalex.org/W2312766351","https://openalex.org/W6632235069","https://openalex.org/W6674884181","https://openalex.org/W6888819823"],"related_works":["https://openalex.org/W1998289390","https://openalex.org/W2795014903","https://openalex.org/W2075804535","https://openalex.org/W3189944752","https://openalex.org/W2137650055","https://openalex.org/W7154748228","https://openalex.org/W2760738329","https://openalex.org/W2072895662","https://openalex.org/W2106669185","https://openalex.org/W2131911853"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2],"end-to-end":[3],"framework":[4],"which":[5,93],"equips":[6],"robots":[7,80],"with":[8],"the":[9,74,82,101,105],"capability":[10],"to":[11,30,45,88,96],"perform":[12,34],"reaching":[13,52,90],"motions":[14,53,76],"in":[15,37,55],"a":[16,56,63],"natural":[17],"human-like":[18],"fashion.":[19],"A":[20],"markerless,":[21],"high-accuracy,":[22],"model-":[23],"based":[24],"human":[25,75,97],"motion":[26,91],"tracker":[27],"is":[28,70],"used":[29,87],"observe":[31],"how":[32],"humans":[33],"everyday":[35],"activities":[36],"real-world":[38],"scenarios.":[39],"The":[40],"obtained":[41],"trajectories":[42,92],"are":[43,86,94],"clustered":[44],"represent":[46],"different":[47],"types":[48],"of":[49,65,104],"manipulation":[50],"and":[51,99],"occurring":[54],"kitchen":[57],"environment.":[58],"Using":[59],"bilevel":[60],"optimization":[61,68],"methods":[62],"combination":[64],"physically":[66],"inspired":[67],"principles":[69,85],"determined":[71],"that":[72],"describes":[73],"best.":[77],"For":[78],"humanoid":[79],"like":[81],"iCub":[83],"these":[84],"compute":[89],"similar":[95],"behavior":[98],"respect":[100],"individual":[102],"requirements":[103],"robotic":[106],"hardware.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}