{"id":"https://openalex.org/W2947017371","doi":"https://doi.org/10.1017/s026357471900078x","title":"Compliant Parametric Dynamic Movement Primitives","display_name":"Compliant Parametric Dynamic Movement Primitives","publication_year":2019,"publication_date":"2019-05-31","ids":{"openalex":"https://openalex.org/W2947017371","doi":"https://doi.org/10.1017/s026357471900078x","mag":"2947017371"},"language":"en","primary_location":{"id":"doi:10.1017/s026357471900078x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471900078x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3415425","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Bogazici University, Computer Engineering, Istanbul, Turkey. E-mail:"],"raw_orcid":"https://orcid.org/0000-0001-9597-2731","affiliations":[{"raw_affiliation_string":"Bogazici University, Computer Engineering, Istanbul, Turkey. E-mail:","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050199260","display_name":"Hakan Girgin","orcid":"https://orcid.org/0000-0002-4776-7888"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Hakan Girgin","raw_affiliation_strings":["Bogazici University, Computer Engineering, Istanbul, Turkey. E-mail:"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bogazici University, Computer Engineering, Istanbul, Turkey. E-mail:","institution_ids":["https://openalex.org/I4405392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048165304"],"corresponding_institution_ids":["https://openalex.org/I4405392"],"apc_list":null,"apc_paid":null,"fwci":3.8773,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.93832076,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"38","issue":"3","first_page":"457","last_page":"474"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10982","display_name":"Motor Control and Adaptation","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.700832188129425},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6572026610374451},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6313159465789795},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.5788504481315613},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5667698979377747},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5653024911880493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5054991245269775},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5025618076324463},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4655020833015442},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4197283387184143},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.4181568920612335},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35483992099761963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13918015360832214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11176750063896179}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.700832188129425},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6572026610374451},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6313159465789795},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.5788504481315613},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5667698979377747},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5653024911880493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5054991245269775},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5025618076324463},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4655020833015442},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4197283387184143},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.4181568920612335},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35483992099761963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13918015360832214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11176750063896179},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s026357471900078x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471900078x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:zenodo.org:3415425","is_oa":true,"landing_page_url":"https://zenodo.org/record/3415425","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica 1-18","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3415425","is_oa":true,"landing_page_url":"https://zenodo.org/record/3415425","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica 1-18","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1497915382","https://openalex.org/W1597173708","https://openalex.org/W1933657216","https://openalex.org/W1986014385","https://openalex.org/W2005870832","https://openalex.org/W2009841905","https://openalex.org/W2051453180","https://openalex.org/W2063182199","https://openalex.org/W2069361969","https://openalex.org/W2081857580","https://openalex.org/W2084859164","https://openalex.org/W2100993276","https://openalex.org/W2107947143","https://openalex.org/W2110989139","https://openalex.org/W2116226448","https://openalex.org/W2116494851","https://openalex.org/W2122410182","https://openalex.org/W2125838338","https://openalex.org/W2128221272","https://openalex.org/W2128677288","https://openalex.org/W2132322793","https://openalex.org/W2138153334","https://openalex.org/W2160609165","https://openalex.org/W2161365670","https://openalex.org/W2161395589","https://openalex.org/W2172158418","https://openalex.org/W2285373626","https://openalex.org/W2329985799","https://openalex.org/W2346626577","https://openalex.org/W2527422040","https://openalex.org/W2623293810","https://openalex.org/W2738231311","https://openalex.org/W2761210343","https://openalex.org/W2773925937","https://openalex.org/W2908984811","https://openalex.org/W2914933231","https://openalex.org/W3141683052","https://openalex.org/W3147742130","https://openalex.org/W4241649586","https://openalex.org/W4248990817","https://openalex.org/W4250935087","https://openalex.org/W6757514361"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W2108167108","https://openalex.org/W2642061445","https://openalex.org/W3094485622","https://openalex.org/W2519742261"],"abstract_inverted_index":{"Summary":[0],"In":[1,141],"this":[2],"paper,":[3],"we":[4],"propose":[5],"and":[6,41,55,93,101,128,197,237],"implement":[7],"an":[8],"advanced":[9],"manipulation":[10],"framework":[11,27],"that":[12,122,200],"enables":[13],"parametric":[14,37,66,71],"learning":[15,94],"of":[16,50,80,119,153,191,203,219,246],"complex":[17],"action":[18,52],"trajectories":[19,49,59],"along":[20,229],"with":[21,34,65,110],"their":[22],"haptic":[23,57],"feedback":[24,58,157],"profiles.":[25],"Our":[26,184,206],"extends":[28],"Dynamic":[29],"Movement":[30],"Primitives":[31],"(DMPs)":[32],"method":[33,185],"a":[35,42,81,168,172,189,194],"new":[36],"nonlinear":[38,48],"shaping":[39],"function":[40],"novel":[43],"force-feedback":[44,146,164],"coupling":[45,147],"term.":[46],"The":[47],"the":[51,56,86,95,98,102,106,120,139,151,154,159,163,176,182,213,217,220,230,242,247,252,256,264],"control":[53],"variables":[54],"measured":[60],"during":[61],"execution":[62],"are":[63,115],"encoded":[64],"temporal":[67],"probabilistic":[68],"models,":[69],"namely":[70],"hidden":[72],"Markov":[73],"models":[74],"(PHMMs).":[75],"PHMMs":[76],"enable":[77],"autonomous":[78],"segmentation":[79],"taught":[82],"skill":[83,121],"based":[84],"on":[85],"statistical":[87],"information":[88,137],"extracted":[89,104],"from":[90,105,158],"multiple":[91],"demonstrations,":[92],"relations":[96],"between":[97],"model":[99],"parameters":[100],"properties":[103],"environment.":[107,140],"Hidden":[108],"states":[109],"high-variances":[111],"in":[112,188,241],"observation":[113],"probabilities":[114],"interpreted":[116],"as":[117,167],"parts":[118],"could":[123],"not":[124,261],"be":[125],"reliably":[126],"learned":[127,210],"autonomously":[129,243],"executed":[130],"due":[131],"to":[132,174,180,211,263],"possibly":[133],"uncertain":[134],"or":[135],"missing":[136],"about":[138],"those":[142],"parts,":[143],"our":[144],"proposed":[145],"term,":[148,170],"which":[149],"computes":[150],"deviation":[152],"actual":[155],"force":[156],"one":[160],"predicted":[161],"by":[162],"PHMM,":[165],"acts":[166],"compliance":[169],"enabling":[171],"human":[173],"scaffold":[175],"ongoing":[177],"movement":[178],"trajectory":[179,214,232],"accomplish":[181],"task.":[183],"is":[186,260],"verified":[187],"number":[190],"tasks":[192],"including":[193],"real":[195],"pick":[196],"place":[198],"task":[199],"involves":[201],"obstacles":[202],"different":[204],"heights.":[205],"robot,":[207],"Baxter,":[208],"successfully":[209],"generate":[212],"taking":[215],"into":[216],"heights":[218],"obstacles,":[221],"move":[222],"its":[223],"end":[224],"effector":[225],"stiffly":[226],"(and":[227],"accurately)":[228],"generated":[231],"while":[233],"passing":[234],"through":[235],"apertures,":[236],"allow":[238],"human\u2013robot":[239],"collaboration":[240],"detected":[244],"segments":[245],"motion,":[248],"for":[249],"example,":[250],"when":[251],"gripper":[253],"picks":[254],"up":[255],"object":[257],"whose":[258],"position":[259],"provided":[262],"robot.":[265]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2019-06-07T00:00:00"}