{"id":"https://openalex.org/W3093886716","doi":"https://doi.org/10.1109/biorob49111.2020.9224399","title":"Dynamic Primitives Facilitate Manipulating a Whip","display_name":"Dynamic Primitives Facilitate Manipulating a Whip","publication_year":2020,"publication_date":"2020-10-15","ids":{"openalex":"https://openalex.org/W3093886716","doi":"https://doi.org/10.1109/biorob49111.2020.9224399","mag":"3093886716"},"language":"en","primary_location":{"id":"doi:10.1109/biorob49111.2020.9224399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/127121","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060580088","display_name":"Moses C. Nah","orcid":"https://orcid.org/0000-0002-9658-9678"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Moses C. Nah","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033974660","display_name":"Aleksei Krotov","orcid":"https://orcid.org/0000-0002-9451-1711"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aleksei Krotov","raw_affiliation_strings":["Department of Bioengineering, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064992724","display_name":"Marta Russo","orcid":"https://orcid.org/0000-0003-1020-7542"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marta Russo","raw_affiliation_strings":["Department of Biology, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biology, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048636837","display_name":"Dagmar Sternad","orcid":"https://orcid.org/0000-0001-9318-2920"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dagmar Sternad","raw_affiliation_strings":["Department of Biology, Northeastern University, Boston, MA, USA","Department of Electrical and Computer Engineering, Department of Physics, Northeastern University, Boston, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biology, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Department of Physics, Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113802640","display_name":"Neville Hogan","orcid":"https://orcid.org/0000-0001-5366-2145"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neville Hogan","raw_affiliation_strings":["Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"685","last_page":"691"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9998000264167786,"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":0.9980000257492065,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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/task","display_name":"Task (project management)","score":0.7189351916313171},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6867644786834717},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.645907461643219},{"id":"https://openalex.org/keywords/whip","display_name":"Whip (tree)","score":0.5423444509506226},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5124636292457581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3978790044784546},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39282917976379395},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3662335276603699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16066867113113403}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7189351916313171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6867644786834717},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.645907461643219},{"id":"https://openalex.org/C97350851","wikidata":"https://www.wikidata.org/wiki/Q7993690","display_name":"Whip (tree)","level":2,"score":0.5423444509506226},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5124636292457581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3978790044784546},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39282917976379395},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3662335276603699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16066867113113403},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C97137747","wikidata":"https://www.wikidata.org/wiki/Q38112","display_name":"Forestry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/biorob49111.2020.9224399","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224399","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/127121","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/127121","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"pmh:oai:dspace.mit.edu:1721.1/141415","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/141415","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Hogan via Elizabeth Kuhlman","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/127121","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/127121","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[{"id":"https://openalex.org/G1939811079","display_name":null,"funder_award_id":"NIH-R01-HD087089","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G5472886911","display_name":null,"funder_award_id":"M3X-1825942","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5520316217","display_name":null,"funder_award_id":"NIH-R01","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G552400533","display_name":"Collaborative Research: Learning to Control Dynamically Complex Objects","funder_award_id":"1826097","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7137620561","display_name":null,"funder_award_id":"R01-HD087089","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"},{"id":"https://openalex.org/G7353014422","display_name":"Collaborative Research: Learning to Control Dynamically Complex Objects","funder_award_id":"1825942","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W76237600","https://openalex.org/W157454455","https://openalex.org/W1534033123","https://openalex.org/W1762396170","https://openalex.org/W1856925845","https://openalex.org/W1885639605","https://openalex.org/W1967043237","https://openalex.org/W1969232476","https://openalex.org/W1969769517","https://openalex.org/W2009493254","https://openalex.org/W2017239762","https://openalex.org/W2019673844","https://openalex.org/W2047692854","https://openalex.org/W2049024270","https://openalex.org/W2049182552","https://openalex.org/W2052742556","https://openalex.org/W2054285085","https://openalex.org/W2060914855","https://openalex.org/W2075779309","https://openalex.org/W2076576536","https://openalex.org/W2077707220","https://openalex.org/W2080452089","https://openalex.org/W2094300913","https://openalex.org/W2101143083","https://openalex.org/W2103617625","https://openalex.org/W2110304639","https://openalex.org/W2114414717","https://openalex.org/W2127107099","https://openalex.org/W2142648872","https://openalex.org/W2148365449","https://openalex.org/W2151927054","https://openalex.org/W2152353757","https://openalex.org/W2156162813","https://openalex.org/W2157423097","https://openalex.org/W2158782408","https://openalex.org/W2160917519","https://openalex.org/W2167341361","https://openalex.org/W2329937427","https://openalex.org/W2527544531","https://openalex.org/W2559823038","https://openalex.org/W2611368995","https://openalex.org/W2611484009","https://openalex.org/W2801816076","https://openalex.org/W6606411100","https://openalex.org/W6637934966"],"related_works":["https://openalex.org/W2808250409","https://openalex.org/W4230401037","https://openalex.org/W2369439424","https://openalex.org/W3173866635","https://openalex.org/W2039483084","https://openalex.org/W4252232930","https://openalex.org/W2005096613","https://openalex.org/W2366067607","https://openalex.org/W2044123706","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Human":[0],"dexterity":[1],"far":[2],"exceeds":[3],"that":[4,32,124,158],"of":[5,29,38,48,62,91,109,120,131,147],"modern":[6],"robots,":[7],"despite":[8],"a":[9,42,78,85,88,121,167],"much":[10],"slower":[11],"neuromuscular":[12,27],"system.":[13],"Understanding":[14],"how":[15],"this":[16,56,139],"is":[17],"accomplished":[18],"may":[19,165,180],"lead":[20],"to":[21,105,172,182],"improved":[22,183],"robot":[23,184],"control.":[24,185],"The":[25],"slow":[26],"system":[28,114],"humans":[30,69,170],"implies":[31],"prediction":[33],"based":[34],"on":[35,60],"some":[36],"form":[37],"internal":[39,129],"model":[40,50,130],"plays":[41],"prominent":[43],"role.":[44],"However,":[45],"the":[46,49,63,107,126,132,144],"nature":[47],"itself":[51],"remains":[52],"unclear.":[53],"To":[54],"address":[55],"problem,":[57],"we":[58],"focused":[59],"one":[61],"most":[64],"complex":[65],"and":[66,115,150],"exotic":[67],"tools":[68],"can":[70],"manipulate-a":[71],"whip.":[72],"We":[73],"tested":[74],"(in":[75],"simulation)":[76],"whether":[77],"distant":[79],"target":[80],"could":[81,96],"be":[82,97,166],"reached":[83],"with":[84],"whip":[86,133],"using":[87,161],"(small)":[89],"number":[90],"dynamic":[92,162],"primitives":[93,164],"whose":[94],"parameters":[95,119],"learned":[98],"through":[99],"optimization.":[100,152],"This":[101],"approach":[102,179],"was":[103,135],"able":[104],"manage":[106],"complexity":[108],"an":[110],"(extremely)":[111],"high":[112],"degree-of-freedom":[113],"discovered":[116],"five":[117],"optimal":[118],"single":[122],"movement":[123],"achieved":[125],"task.":[127],"An":[128],"dynamics":[134],"not":[136],"needed":[137],"for":[138],"approach,":[140],"thereby":[141],"significantly":[142],"relieving":[143],"computational":[145],"burden":[146],"task":[148],"representation":[149],"performance":[151],"These":[153],"results":[154],"support":[155],"our":[156],"hypothesis":[157],"composing":[159],"control":[160],"motor":[163],"strategy":[168],"which":[169],"use":[171],"enable":[173],"their":[174],"remarkable":[175],"dexterity.":[176],"A":[177],"similar":[178],"contribute":[181]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}