{"id":"https://openalex.org/W4385656177","doi":"https://doi.org/10.1109/ur57808.2023.10202357","title":"Motion Macro Programming on Assistive Robotic Manipulators: Three Skill Types for Everyday Tasks","display_name":"Motion Macro Programming on Assistive Robotic Manipulators: Three Skill Types for Everyday Tasks","publication_year":2023,"publication_date":"2023-06-25","ids":{"openalex":"https://openalex.org/W4385656177","doi":"https://doi.org/10.1109/ur57808.2023.10202357"},"language":"en","primary_location":{"id":"doi:10.1109/ur57808.2023.10202357","doi":"https://doi.org/10.1109/ur57808.2023.10202357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur57808.2023.10202357","pdf_url":null,"source":{"id":"https://openalex.org/S7407089256","display_name":"International Conference on Ubiquitous Robots (UR)","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":"2023 20th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2202.09221","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070436621","display_name":"Stefan Scherzinger","orcid":"https://orcid.org/0000-0003-4451-2932","observed_orcids":["https://orcid.org/0000-0003-4451-2932"]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Scherzinger","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058465800","display_name":"Pascal Becker","orcid":"https://orcid.org/0000-0003-0482-8377","observed_orcids":["https://orcid.org/0000-0003-0482-8377"]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pascal Becker","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072884786","display_name":"Arne Roennau","orcid":"https://orcid.org/0000-0002-6090-607X","observed_orcids":["https://orcid.org/0000-0002-6090-607X"]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Arne Roennau","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":"https://orcid.org/0000-0002-2049-8219","observed_orcids":["https://orcid.org/0000-0002-2049-8219"]},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R\u00fcdiger Dillmann","raw_affiliation_strings":["FZI Research Center for Information Technology,Karlsruhe,Germany,76131"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FZI Research Center for Information Technology,Karlsruhe,Germany,76131","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":1.4836,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.81401826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"792","last_page":"799"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7797999978065491,"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":0.7797999978065491,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.09549999982118607,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.033399999141693115,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/assistive-robotics","display_name":"assistive robotics","score":0.8769999742507935},{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.9559999704360962},{"id":"https://openalex.org/keywords/dynamic-movement-primitives","display_name":"dynamic movement primitives","score":0.8510000109672546},{"id":"https://openalex.org/keywords/teleoperation","display_name":"teleoperation","score":0.8240000009536743},{"id":"https://openalex.org/keywords/skill-acquisition","display_name":"skill acquisition","score":0.765999972820282},{"id":"https://openalex.org/keywords/everyday-tasks","display_name":"everyday tasks","score":0.6520000100135803},{"id":"https://openalex.org/keywords/activities-of-daily-living","display_name":"activities of daily living","score":0.625},{"id":"https://openalex.org/keywords/people-with-disabilities","display_name":"people with disabilities","score":0.5619999766349792}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7297601699829102},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5949665904045105},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.5741690397262573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5154174566268921},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5075644254684448},{"id":"https://openalex.org/C2776545233","wikidata":"https://www.wikidata.org/wiki/Q1064858","display_name":"Desk","level":2,"score":0.49265676736831665},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4763079881668091},{"id":"https://openalex.org/C166955791","wikidata":"https://www.wikidata.org/wiki/Q629579","display_name":"Macro","level":2,"score":0.4741494059562683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46880868077278137},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4581351578235626},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.44576725363731384},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1477052867412567},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ur57808.2023.10202357","doi":"https://doi.org/10.1109/ur57808.2023.10202357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur57808.2023.10202357","pdf_url":null,"source":{"id":"https://openalex.org/S7407089256","display_name":"International Conference on Ubiquitous Robots (UR)","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":"2023 20th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2202.09221","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.09221","pdf_url":"https://arxiv.org/pdf/2202.09221","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2202.09221","doi":"https://doi.org/10.48550/arxiv.2202.09221","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2202.09221","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2202.09221","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.09221","pdf_url":"https://arxiv.org/pdf/2202.09221","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385656177.pdf","grobid_xml":"https://content.openalex.org/works/W4385656177.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W2069361969","https://openalex.org/W2110304639","https://openalex.org/W2113698995","https://openalex.org/W2136719407","https://openalex.org/W2161395589","https://openalex.org/W2415378145","https://openalex.org/W2736821161","https://openalex.org/W2775416623","https://openalex.org/W2802700851","https://openalex.org/W2808088400","https://openalex.org/W2901136733","https://openalex.org/W2909612327","https://openalex.org/W2910064283","https://openalex.org/W2967620464","https://openalex.org/W2971128818","https://openalex.org/W2974048616","https://openalex.org/W2978696050","https://openalex.org/W3011022733","https://openalex.org/W3088621585"],"related_works":["https://openalex.org/W7171768993","https://openalex.org/W1542733587","https://openalex.org/W6888528617","https://openalex.org/W3091182126","https://openalex.org/W1881992065","https://openalex.org/W2889263252","https://openalex.org/W7043660708","https://openalex.org/W4387464284","https://openalex.org/W2791637865","https://openalex.org/W2789837949"],"abstract_inverted_index":{"Assistive":[0],"robotic":[1,129],"manipulators":[2],"are":[3,44,114],"becoming":[4],"increasingly":[5],"important":[6],"for":[7,48,82,105,136,144],"people":[8],"with":[9,163],"disabilities.":[10],"Teleoperating":[11],"the":[12,26,92,141],"manipulator":[13],"in":[14,75],"mundane":[15],"tasks":[16,108],"is":[17,167],"part":[18],"of":[19,24,94,109],"their":[20,127],"daily":[21,110],"lives.":[22],"Instead":[23],"steering":[25],"robot":[27],"through":[28],"all":[29,134],"actions,":[30],"applying":[31],"self-recorded":[32],"motion":[33],"macros":[34],"could":[35],"greatly":[36],"facilitate":[37],"repetitive":[38],"tasks.":[39],"Dynamic":[40],"Movement":[41],"Primitives":[42],"(DMP)":[43],"a":[45,70,73,102,156,160],"powerful":[46],"method":[47],"skill":[49,71],"learning":[50],"via":[51],"teleoperation.":[52],"For":[53],"this":[54,87,89],"use":[55],"case,":[56],"however,":[57],"they":[58],"need":[59],"simple":[60],"heuristics":[61],"to":[62,65],"specify":[63],"where":[64],"start,":[66],"stop,":[67],"and":[68,78,97,117,158],"parameterize":[69],"without":[72],"background":[74],"computer":[76],"science":[77],"academic":[79],"sensor":[80],"setups":[81],"autonomous":[83],"perception.":[84],"To":[85],"achieve":[86],"goal,":[88],"paper":[90,132,166],"provides":[91],"concept":[93],"local,":[95],"global,":[96],"hybrid":[98],"skills":[99,113],"that":[100],"form":[101],"modular":[103],"basis":[104],"composing":[106],"single-handed":[107],"living.":[111],"These":[112],"specified":[115],"implicitly":[116],"can":[118],"easily":[119],"be":[120],"programmed":[121],"by":[122,169],"users":[123],"themselves,":[124],"requiring":[125],"only":[126],"basic":[128],"manipulator.":[130],"The":[131,165],"contributes":[133],"details":[135],"robot-agnostic":[137],"implementations.":[138],"Experiments":[139],"validate":[140],"developed":[142],"methods":[143],"exemplary":[145],"tasks,":[146],"such":[147],"as":[148],"scratching":[149],"an":[150,170],"itchy":[151],"spot,":[152],"sorting":[153],"objects":[154],"on":[155],"desk,":[157],"feeding":[159],"piggy":[161],"bank":[162],"coins.":[164],"accompanied":[168],"open-source":[171],"implementation":[172],"at":[173],"https://github.com/fzi-forschungszentrum-informatik/ArNe":[174]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2023-08-09T00:00:00"}