{"id":"https://openalex.org/W2494290782","doi":"https://doi.org/10.1109/acc.2016.7526121","title":"Learning periodic motions from human demonstrations using transverse contraction analysis","display_name":"Learning periodic motions from human demonstrations using transverse contraction analysis","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2494290782","doi":"https://doi.org/10.1109/acc.2016.7526121","mag":"2494290782"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2016.7526121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7526121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087370510","display_name":"Harish Ravichandar","orcid":"https://orcid.org/0000-0002-6635-2637"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Harish chaandar Ravichandar","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088119146","display_name":"Pavan Kumar Thota","orcid":null},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pavan kumar Thota","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT","institution_ids":["https://openalex.org/I140172145"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076083833","display_name":"Ashwin P. Dani","orcid":"https://orcid.org/0000-0002-7091-5607"},"institutions":[{"id":"https://openalex.org/I140172145","display_name":"University of Connecticut","ror":"https://ror.org/02der9h97","country_code":"US","type":"education","lineage":["https://openalex.org/I140172145"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashwin P. Dani","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Connecticut, Storrs, CT","institution_ids":["https://openalex.org/I140172145"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I140172145"],"apc_list":null,"apc_paid":null,"fwci":2.2018,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.85968786,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4853","last_page":"4858"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.989300012588501,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9879000186920166,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.552777111530304},{"id":"https://openalex.org/keywords/transverse-plane","display_name":"Transverse plane","score":0.5079644322395325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45648571848869324},{"id":"https://openalex.org/keywords/contraction","display_name":"Contraction (grammar)","score":0.456265926361084},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4494134187698364},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4485734701156616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4362640976905823},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43083009123802185},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41609418392181396},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3645329773426056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13778096437454224},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.13193842768669128}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.552777111530304},{"id":"https://openalex.org/C154954056","wikidata":"https://www.wikidata.org/wiki/Q1604164","display_name":"Transverse plane","level":2,"score":0.5079644322395325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45648571848869324},{"id":"https://openalex.org/C163415756","wikidata":"https://www.wikidata.org/wiki/Q126473","display_name":"Contraction (grammar)","level":2,"score":0.456265926361084},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4494134187698364},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4485734701156616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4362640976905823},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43083009123802185},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41609418392181396},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3645329773426056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13778096437454224},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.13193842768669128},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/acc.2016.7526121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7526121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W99708544","https://openalex.org/W1509235676","https://openalex.org/W1955948120","https://openalex.org/W1965660319","https://openalex.org/W1980440818","https://openalex.org/W1986014385","https://openalex.org/W1992461594","https://openalex.org/W1993294034","https://openalex.org/W1996731032","https://openalex.org/W1999874108","https://openalex.org/W2017756130","https://openalex.org/W2056789197","https://openalex.org/W2059788607","https://openalex.org/W2060387759","https://openalex.org/W2074697762","https://openalex.org/W2082581021","https://openalex.org/W2085444192","https://openalex.org/W2103120971","https://openalex.org/W2106850246","https://openalex.org/W2115817551","https://openalex.org/W2128458185","https://openalex.org/W2129202194","https://openalex.org/W2133404041","https://openalex.org/W2134889984","https://openalex.org/W2136719407","https://openalex.org/W2152740345","https://openalex.org/W2166302491","https://openalex.org/W2171054284","https://openalex.org/W2217354111","https://openalex.org/W2295362572","https://openalex.org/W2494980014","https://openalex.org/W2962786526","https://openalex.org/W4240592325","https://openalex.org/W4254742099","https://openalex.org/W6679392325","https://openalex.org/W6682763933"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W4245435724","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2906246018"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3,53,111,151,214],"algorithm":[4,199,225,236],"called":[5],"transverse":[6,102,120,167],"contracting":[7,168],"dynamic":[8,228],"system":[9],"primitive":[10],"(CDSP)":[11],"to":[12,70,101,145,164,170,202,204,253],"learn":[13,107],"the":[14,47,61,72,75,84,89,94,108,118,140,147,165,178,208,218,223,234,247,251,255],"dynamics":[15,73],"of":[16,46,74,88,125,139,157,241],"periodic":[17,44,185,242,256],"motions":[18,186],"from":[19,188,258],"demonstrations":[20,209],"is":[21,26,50,68,99,114,132,162,200],"presented.":[22],"Learning":[23],"motion":[24,45,78,92,96],"plans":[25],"essential":[27],"in":[28,143,217,239],"making":[29],"robot":[30],"programming":[31],"possible":[32],"by":[33,52,116,134,250],"non-expert":[34],"programmers":[35],"as":[36,38,150],"well":[37],"realizing":[39],"human-robot":[40],"collaboration.":[41],"The":[42,129,197,220],"complex":[43],"human":[48,76,90,189],"arm":[49,77,91],"generated":[51],"orbitally":[54,85],"stable":[55,86],"closed-loop":[56],"dynamical":[57],"system.":[58],"To":[59,80,106],"capture":[60],"complexity,":[62],"a":[63,136,158],"neural":[64],"network":[65],"(NN)":[66],"model":[67,97,109,131,169,179],"used":[69],"represent":[71],"states.":[79],"take":[81],"into":[82],"consideration":[83],"nature":[87],"dynamics,":[93],"unknown":[95],"learning":[98,180],"subjected":[100],"contraction":[103,121],"analysis":[104],"constraints.":[105],"parameters,":[110],"optimization":[112,148],"problem":[113,149],"formulated":[115],"relaxing":[117],"non-convex":[119],"constraints":[122],"using":[123,135,193],"sum":[124],"squares":[126],"(SOS)":[127],"programming.":[128],"NN":[130],"approximated":[133],"polynomial":[137],"approximation":[138],"activation":[141],"function":[142,161],"order":[144],"pose":[146],"SOS":[152],"problem.":[153],"A":[154],"negative":[155],"gradient":[156],"repulsive":[159],"potential":[160],"added":[163],"learned":[166,187],"incorporate":[171],"obstacle":[172,215],"avoidance.":[173],"Experimental":[174],"results":[175],"indicate":[176],"that":[177,233],"via":[181],"CDSP":[182,198,224,235],"can":[183],"generate":[184],"demonstrated":[190],"data":[191],"recorded":[192],"Microsoft":[194],"Kinect":[195],"sensor.":[196],"able":[201],"adapt":[203],"situations":[205],"for":[206],"which":[207],"are":[210],"not":[211],"available,":[212],"e.g.,":[213],"placed":[216],"path.":[219],"comparison":[221],"between":[222],"and":[226,246],"rhythmic":[227],"movement":[229],"primitives":[230],"(DMPs)":[231],"shows":[232],"performs":[237],"better":[238],"terms":[240],"trajectory":[243],"reproduction":[244],"accuracy":[245],"time":[248],"taken":[249],"reproductions":[252],"enter":[254],"orbit":[257],"random":[259],"initial":[260],"conditions.":[261]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
