{"id":"https://openalex.org/W3164396990","doi":"https://doi.org/10.1007/s40747-021-00429-3","title":"DMPs-based skill learning for redundant dual-arm robotic synchronized cooperative manipulation","display_name":"DMPs-based skill learning for redundant dual-arm robotic synchronized cooperative manipulation","publication_year":2021,"publication_date":"2021-06-17","ids":{"openalex":"https://openalex.org/W3164396990","doi":"https://doi.org/10.1007/s40747-021-00429-3","mag":"3164396990"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-021-00429-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00429-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00429-3.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex & Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00429-3.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057911864","display_name":"Zhenyu Lu","orcid":"https://orcid.org/0000-0002-5446-7285"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhenyu Lu","raw_affiliation_strings":["Bristol Robotics Laboratory, T-Block, UWE Bristol, Bristol, BS16 1QY, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, T-Block, UWE Bristol, Bristol, BS16 1QY, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387137","display_name":"Ning Wang","orcid":"https://orcid.org/0000-0002-3264-1852"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ning Wang","raw_affiliation_strings":["Bristol Robotics Laboratory, T-Block, UWE Bristol, Bristol, BS16 1QY, UK"],"raw_orcid":"https://orcid.org/0000-0002-3264-1852","affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, T-Block, UWE Bristol, Bristol, BS16 1QY, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006857611","display_name":"Donghao Shi","orcid":"https://orcid.org/0000-0002-2189-837X"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Donghao Shi","raw_affiliation_strings":["Bristol Robotics Laboratory, T-Block, UWE Bristol, Bristol, BS16 1QY, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, T-Block, UWE Bristol, Bristol, BS16 1QY, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057911864"],"corresponding_institution_ids":["https://openalex.org/I178535277","https://openalex.org/I4210161128"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":1.2488,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.78993386,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"8","issue":"4","first_page":"2873","last_page":"2882"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9868000149726868,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9847000241279602,"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/computer-science","display_name":"Computer science","score":0.6859250068664551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6828726530075073},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5733198523521423},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5696569681167603},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.49072062969207764},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4835795760154724},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4630366265773773},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3352547883987427},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32995128631591797}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6859250068664551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6828726530075073},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5733198523521423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5696569681167603},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.49072062969207764},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4835795760154724},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4630366265773773},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3352547883987427},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32995128631591797},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s40747-021-00429-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00429-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00429-3.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex & Intelligent Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s40747-021-00429-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-021-00429-3","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-021-00429-3.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"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":"Complex & Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3164396990.pdf","grobid_xml":"https://content.openalex.org/works/W3164396990.grobid-xml"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W2057411395","https://openalex.org/W2062373349","https://openalex.org/W2078763164","https://openalex.org/W2099755684","https://openalex.org/W2115166552","https://openalex.org/W2122777916","https://openalex.org/W2136719407","https://openalex.org/W2216535602","https://openalex.org/W2276477818","https://openalex.org/W2342889731","https://openalex.org/W2521872058","https://openalex.org/W2530312297","https://openalex.org/W2601364406","https://openalex.org/W2749412222","https://openalex.org/W2754133402","https://openalex.org/W2791542133","https://openalex.org/W2797679738","https://openalex.org/W2802700851","https://openalex.org/W2883972132","https://openalex.org/W2887685036","https://openalex.org/W2891746250","https://openalex.org/W2891765131","https://openalex.org/W2908012943","https://openalex.org/W2925777187","https://openalex.org/W2942510244","https://openalex.org/W2970872060","https://openalex.org/W2984769036","https://openalex.org/W2994446013","https://openalex.org/W3036168343","https://openalex.org/W3082301672"],"related_works":["https://openalex.org/W2658949566","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W2167648512","https://openalex.org/W2065660108","https://openalex.org/W2612781909","https://openalex.org/W3004667746"],"abstract_inverted_index":{"Abstract":[0],"Dual-arm":[1],"robot":[2,30,163],"manipulation":[3],"is":[4,20,111,127],"applicable":[5],"to":[6,59,61,107,164],"many":[7],"domains,":[8],"such":[9,67],"as":[10,68],"industrial,":[11],"medical,":[12],"and":[13,36,135,156,173],"home":[14],"service":[15],"scenes.":[16],"Learning":[17],"from":[18,32],"demonstrations":[19],"a":[21,29,87,103,160,166],"highly":[22],"effective":[23],"paradigm":[24],"for":[25,41,49,77,96,143,159],"robotic":[26,74],"learning,":[27],"where":[28,64],"learns":[31],"human":[33],"actions":[34,152],"directly":[35],"can":[37],"be":[38],"used":[39],"autonomously":[40],"new":[42,62],"tasks,":[43],"avoiding":[44],"the":[45,53,108,114,131,150,157,177,180],"complicated":[46],"analytical":[47],"calculation":[48],"motion":[50],"programming.":[51],"However,":[52],"learned":[54],"skills":[55,93],"are":[56],"not":[57],"easy":[58],"generalize":[60],"cases":[63],"special":[65],"constraints":[66],"varying":[69,136],"relative":[70,137],"distance":[71,134,138],"limitation":[72],"of":[73,118,140,179],"end":[75,141],"effectors":[76,142],"human-like":[78,167],"cooperative":[79],"manipulations":[80],"exist.":[81],"In":[82,146],"this":[83],"paper,":[84],"we":[85,148],"propose":[86],"dynamic":[88],"movement":[89],"primitives":[90],"(DMPs)":[91],"based":[92,129],"learning":[94],"framework":[95],"redundant":[97,161],"dual-arm":[98,162],"robots.":[99],"The":[100,122],"method,":[101],"with":[102],"coupling":[104,124],"acceleration":[105,125],"term":[106,126],"DMPs":[109],"function,":[110],"inspired":[112],"by":[113],"transient":[115],"performance":[116],"control":[117],"Barrier":[119],"Lyapunov":[120],"Functions.":[121],"additional":[123],"calculated":[128],"on":[130],"constant":[132],"joint":[133,154],"limitations":[139],"object-approaching":[144],"actions.":[145],"addition,":[147],"integrate":[149],"generated":[151],"in":[153,171],"space":[155],"solution":[158],"complete":[165],"manipulation.":[168],"Simulations":[169],"undertaken":[170],"Matlab":[172],"Gazebo":[174],"environments":[175],"certify":[176],"effectiveness":[178],"proposed":[181],"method.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}