{"id":"https://openalex.org/W4304148160","doi":"https://doi.org/10.1007/s10514-022-10067-4","title":"A novel framework for generalizing dynamic movement primitives under kinematic constraints","display_name":"A novel framework for generalizing dynamic movement primitives under kinematic constraints","publication_year":2022,"publication_date":"2022-10-10","ids":{"openalex":"https://openalex.org/W4304148160","doi":"https://doi.org/10.1007/s10514-022-10067-4"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-022-10067-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10067-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10067-4.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10067-4.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009466382","display_name":"Antonis Sidiropoulos","orcid":"https://orcid.org/0000-0002-6089-5980"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":true,"raw_author_name":"Antonis Sidiropoulos","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Panepistimioupoli, 54124, Thessaloniki, Greece"],"raw_orcid":"https://orcid.org/0000-0002-6089-5980","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Panepistimioupoli, 54124, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081966018","display_name":"Dimitrios Papageorgiou","orcid":"https://orcid.org/0000-0003-0361-8757"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Papageorgiou","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Panepistimioupoli, 54124, Thessaloniki, Greece"],"raw_orcid":"https://orcid.org/0000-0003-0361-8757","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Panepistimioupoli, 54124, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079421769","display_name":"Zoe Doulgeri","orcid":"https://orcid.org/0000-0003-2188-9358"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Zoe Doulgeri","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Panepistimioupoli, 54124, Thessaloniki, Greece"],"raw_orcid":"https://orcid.org/0000-0003-2188-9358","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Aristotle University of Thessaloniki, Panepistimioupoli, 54124, Thessaloniki, Greece","institution_ids":["https://openalex.org/I21370196"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009466382"],"corresponding_institution_ids":["https://openalex.org/I21370196"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":{"value":2590,"currency":"EUR","value_usd":3390},"fwci":2.1871,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.87425437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"47","issue":"1","first_page":"37","last_page":"50"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976999759674072,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8711065053939819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8452496528625488},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6805952787399292},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6106017827987671},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.568816065788269},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5227175354957581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.468656450510025},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4443095326423645},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4161718189716339},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33967870473861694},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3299780488014221},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.16167578101158142},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11102977395057678}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8711065053939819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8452496528625488},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6805952787399292},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6106017827987671},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.568816065788269},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5227175354957581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.468656450510025},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4443095326423645},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4161718189716339},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33967870473861694},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3299780488014221},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.16167578101158142},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11102977395057678},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-022-10067-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10067-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10067-4.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10514-022-10067-4","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10067-4","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10067-4.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320318628","display_name":"Hellenic Academic Libraries Link","ror":null},{"id":"https://openalex.org/F4320323894","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4304148160.pdf","grobid_xml":"https://content.openalex.org/works/W4304148160.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1489796207","https://openalex.org/W1982803779","https://openalex.org/W1995086487","https://openalex.org/W2012058822","https://openalex.org/W2012204020","https://openalex.org/W2041051914","https://openalex.org/W2093333331","https://openalex.org/W2113698995","https://openalex.org/W2136719407","https://openalex.org/W2565233142","https://openalex.org/W2604115276","https://openalex.org/W2735021678","https://openalex.org/W2769646558","https://openalex.org/W2915059514","https://openalex.org/W2967031655","https://openalex.org/W2979471310","https://openalex.org/W3093825176","https://openalex.org/W3094280121","https://openalex.org/W3101798601","https://openalex.org/W3128463899","https://openalex.org/W3133388540","https://openalex.org/W3138330110","https://openalex.org/W3206193560","https://openalex.org/W3206385822","https://openalex.org/W4200242617","https://openalex.org/W4211008118"],"related_works":["https://openalex.org/W4233452137","https://openalex.org/W4254857216","https://openalex.org/W405964254","https://openalex.org/W2045758229","https://openalex.org/W2126474951","https://openalex.org/W4231626925","https://openalex.org/W2962829499","https://openalex.org/W2120820506","https://openalex.org/W2398963826","https://openalex.org/W1518845096"],"abstract_inverted_index":{"Abstract":[0],"In":[1],"this":[2,57],"work,":[3,72],"we":[4,59],"propose":[5],"a":[6,11,125],"novel":[7],"framework":[8,118],"for":[9,32,73,106],"generalizing":[10,74],"desired":[12],"trajectory":[13,75],"pattern,":[14],"encoded":[15,77],"using":[16],"Dynamic":[17],"Movement":[18],"Primitives":[19],"(DMP),":[20],"subject":[21,80],"to":[22,39,81],"kinematic":[23,36,48,82],"constraints.":[24,94],"DMP":[25,67,79],"have":[26],"been":[27,53],"extensively":[28],"used":[29],"in":[30,121,142],"robotics":[31],"encoding":[33],"and":[34,43,88,92,99,113,130,134],"reproducing":[35],"behaviours,":[37],"thanks":[38],"their":[40],"generalization,":[41],"stability":[42],"robustness":[44],"properties.":[45],"However,":[46],"incorporating":[47],"constraints":[49,108],"has":[50],"not":[51],"yet":[52],"fully":[54],"addressed.":[55],"To":[56],"end,":[58],"design":[60],"an":[61],"optimization":[62],"framework,":[63],"based":[64],"on":[65,109],"the":[66,116,128,143],"formulation":[68],"from":[69],"our":[70],"previous":[71],"patterns,":[76],"with":[78,103],"constraints,":[83],"considering":[84],"also":[85],"time-varying":[86],"target":[87,129],"time":[89,131],"duration,":[90],"via-point":[91],"obstacle":[93],"Simulations":[95],"highlight":[96],"these":[97],"properties":[98],"comparisons":[100],"are":[101,139],"drawn":[102],"other":[104],"approaches":[105],"enforcing":[107],"DMP.":[110],"The":[111],"usefulness":[112],"applicability":[114],"of":[115],"proposed":[117],"is":[119],"showcased":[120],"experimental":[122],"scenarios,":[123,136],"including":[124],"handover,":[126],"where":[127,137],"duration":[132],"vary,":[133],"placing":[135],"obstacles":[138],"dynamically":[140],"introduced":[141],"scene.":[144]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}