{"id":"https://openalex.org/W3117893216","doi":"https://doi.org/10.1017/s0263574720001186","title":"Motion Adaptation Based on Learning the Manifold of Task and Dynamic Movement Primitive Parameters","display_name":"Motion Adaptation Based on Learning the Manifold of Task and Dynamic Movement Primitive Parameters","publication_year":2020,"publication_date":"2020-12-18","ids":{"openalex":"https://openalex.org/W3117893216","doi":"https://doi.org/10.1017/s0263574720001186","mag":"3117893216"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574720001186","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574720001186","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/F5DA69DDC77D6F5B8CA55354BB10C44F/S0263574720001186a.pdf/div-class-title-motion-adaptation-based-on-learning-the-manifold-of-task-and-dynamic-movement-primitive-parameters-div.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/F5DA69DDC77D6F5B8CA55354BB10C44F/S0263574720001186a.pdf/div-class-title-motion-adaptation-based-on-learning-the-manifold-of-task-and-dynamic-movement-primitive-parameters-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075614164","display_name":"Yosef Cohen","orcid":"https://orcid.org/0000-0003-4354-7244"},"institutions":[{"id":"https://openalex.org/I124227911","display_name":"Ben-Gurion University of the Negev","ror":"https://ror.org/05tkyf982","country_code":"IL","type":"education","lineage":["https://openalex.org/I124227911"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Yosef Cohen","raw_affiliation_strings":["Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel","institution_ids":["https://openalex.org/I124227911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060290850","display_name":"Or Bar-Shira","orcid":null},"institutions":[{"id":"https://openalex.org/I124227911","display_name":"Ben-Gurion University of the Negev","ror":"https://ror.org/05tkyf982","country_code":"IL","type":"education","lineage":["https://openalex.org/I124227911"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Or Bar-Shira","raw_affiliation_strings":["Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel","institution_ids":["https://openalex.org/I124227911"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034498707","display_name":"Sigal Berman","orcid":"https://orcid.org/0000-0001-7717-7259"},"institutions":[{"id":"https://openalex.org/I124227911","display_name":"Ben-Gurion University of the Negev","ror":"https://ror.org/05tkyf982","country_code":"IL","type":"education","lineage":["https://openalex.org/I124227911"]}],"countries":["IL"],"is_corresponding":true,"raw_author_name":"Sigal Berman","raw_affiliation_strings":["Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel","Zlotowski Center for Neuroscience, Ben-Gurion University of the Negev, Beer-Sheva, Israel"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel","institution_ids":["https://openalex.org/I124227911"]},{"raw_affiliation_string":"Zlotowski Center for Neuroscience, Ben-Gurion University of the Negev, Beer-Sheva, Israel","institution_ids":["https://openalex.org/I124227911"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5034498707"],"corresponding_institution_ids":["https://openalex.org/I124227911"],"apc_list":null,"apc_paid":null,"fwci":0.8827,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.7485044,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"39","issue":"7","first_page":"1299","last_page":"1315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9930999875068665,"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":0.7028828859329224},{"id":"https://openalex.org/keywords/nonlinear-dimensionality-reduction","display_name":"Nonlinear dimensionality reduction","score":0.6344110369682312},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.6228671073913574},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6004922389984131},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5672948360443115},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5267077088356018},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.512356162071228},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47785016894340515},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.4680235981941223},{"id":"https://openalex.org/keywords/principal-component-analysis","display_name":"Principal component analysis","score":0.43633657693862915},{"id":"https://openalex.org/keywords/kernel-principal-component-analysis","display_name":"Kernel principal component analysis","score":0.43064582347869873},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4170449376106262},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37758708000183105},{"id":"https://openalex.org/keywords/kernel-method","display_name":"Kernel method","score":0.30209726095199585},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.24023109674453735},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1365431547164917},{"id":"https://openalex.org/keywords/dimensionality-reduction","display_name":"Dimensionality reduction","score":0.1336647868156433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12023237347602844}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7028828859329224},{"id":"https://openalex.org/C151876577","wikidata":"https://www.wikidata.org/wiki/Q7049464","display_name":"Nonlinear dimensionality reduction","level":3,"score":0.6344110369682312},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.6228671073913574},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6004922389984131},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5672948360443115},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5267077088356018},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.512356162071228},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47785016894340515},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.4680235981941223},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.43633657693862915},{"id":"https://openalex.org/C182335926","wikidata":"https://www.wikidata.org/wiki/Q17093020","display_name":"Kernel principal component analysis","level":4,"score":0.43064582347869873},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4170449376106262},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37758708000183105},{"id":"https://openalex.org/C122280245","wikidata":"https://www.wikidata.org/wiki/Q620622","display_name":"Kernel method","level":3,"score":0.30209726095199585},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.24023109674453735},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1365431547164917},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.1336647868156433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12023237347602844},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574720001186","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574720001186","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/F5DA69DDC77D6F5B8CA55354BB10C44F/S0263574720001186a.pdf/div-class-title-motion-adaptation-based-on-learning-the-manifold-of-task-and-dynamic-movement-primitive-parameters-div.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s0263574720001186","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574720001186","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/F5DA69DDC77D6F5B8CA55354BB10C44F/S0263574720001186a.pdf/div-class-title-motion-adaptation-based-on-learning-the-manifold-of-task-and-dynamic-movement-primitive-parameters-div.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309446","display_name":"Leona M. and Harry B. Helmsley Charitable Trust","ror":"https://ror.org/011x6n313"},{"id":"https://openalex.org/F4320323051","display_name":"Ben-Gurion University of the Negev","ror":"https://ror.org/05tkyf982"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3117893216.pdf","grobid_xml":"https://content.openalex.org/works/W3117893216.grobid-xml"},"referenced_works_count":60,"referenced_works":["https://openalex.org/W93271577","https://openalex.org/W125972184","https://openalex.org/W269095843","https://openalex.org/W1513084430","https://openalex.org/W1516801383","https://openalex.org/W1521528529","https://openalex.org/W1528215793","https://openalex.org/W1582774210","https://openalex.org/W1684361744","https://openalex.org/W1969074599","https://openalex.org/W1976744954","https://openalex.org/W1977655452","https://openalex.org/W1986014385","https://openalex.org/W1994648061","https://openalex.org/W2004382882","https://openalex.org/W2007813200","https://openalex.org/W2012204020","https://openalex.org/W2012392077","https://openalex.org/W2016765487","https://openalex.org/W2048831473","https://openalex.org/W2053186076","https://openalex.org/W2056518977","https://openalex.org/W2062766631","https://openalex.org/W2071444114","https://openalex.org/W2089468765","https://openalex.org/W2095111012","https://openalex.org/W2097998348","https://openalex.org/W2110304639","https://openalex.org/W2113698995","https://openalex.org/W2118459920","https://openalex.org/W2119381787","https://openalex.org/W2121294372","https://openalex.org/W2123967136","https://openalex.org/W2124267516","https://openalex.org/W2127107099","https://openalex.org/W2129999383","https://openalex.org/W2136719407","https://openalex.org/W2140801763","https://openalex.org/W2143435603","https://openalex.org/W2146145272","https://openalex.org/W2148694408","https://openalex.org/W2149860990","https://openalex.org/W2156387975","https://openalex.org/W2172158418","https://openalex.org/W2280528823","https://openalex.org/W2441756537","https://openalex.org/W2479760426","https://openalex.org/W2521757446","https://openalex.org/W2591436094","https://openalex.org/W2604319603","https://openalex.org/W2908984811","https://openalex.org/W2947017371","https://openalex.org/W2965567119","https://openalex.org/W4211008118","https://openalex.org/W4252031641","https://openalex.org/W4253414025","https://openalex.org/W4254751698","https://openalex.org/W4292023222","https://openalex.org/W4300982816","https://openalex.org/W6674385629"],"related_works":["https://openalex.org/W117517268","https://openalex.org/W2383239174","https://openalex.org/W2362829263","https://openalex.org/W2900415423","https://openalex.org/W3159953198","https://openalex.org/W2380477800","https://openalex.org/W2347974653","https://openalex.org/W2766342722","https://openalex.org/W2380996235","https://openalex.org/W2970256865"],"abstract_inverted_index":{"SUMMARY":[0],"Dynamic":[1],"movement":[2],"primitives":[3],"(DMP)":[4],"are":[5,67,85,100],"motion":[6],"building":[7],"blocks":[8],"suitable":[9],"for":[10,17,69,87],"real-world":[11],"tasks.":[12],"We":[13],"suggest":[14],"a":[15,70,78],"methodology":[16],"learning":[18,59,89],"the":[19,44],"manifold":[20,58],"of":[21],"task":[22,33,73],"and":[23,38,53,63,76],"DMP":[24],"parameters,":[25],"which":[26],"facilitates":[27],"runtime":[28,82],"adaptation":[29],"to":[30,94],"changes":[31],"in":[32,74,77],"requirements":[34],"while":[35],"ensuring":[36],"predictable":[37],"robust":[39],"performance.":[40],"For":[41],"efficient":[42],"learning,":[43],"parameter":[45],"space":[46],"is":[47],"analyzed":[48],"using":[49],"principal":[50],"component":[51],"analysis":[52],"locally":[54],"linear":[55],"embedding.":[56],"Two":[57],"methods:":[60],"kernel":[61,95],"estimation":[62,83,96],"deep":[64],"neural":[65],"networks,":[66],"investigated":[68],"ball":[71],"throwing":[72],"simulation":[75],"physical":[79],"environment.":[80],"Low":[81],"errors":[84],"obtained":[86],"both":[88],"methods,":[90],"with":[91],"an":[92],"advantage":[93],"when":[97],"data":[98],"sets":[99],"small.":[101]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}