{"id":"https://openalex.org/W2019901401","doi":"https://doi.org/10.1109/humanoids.2011.6100856","title":"Imitating human reaching motions using physically inspired optimization principles","display_name":"Imitating human reaching motions using physically inspired optimization principles","publication_year":2011,"publication_date":"2011-10-01","ids":{"openalex":"https://openalex.org/W2019901401","doi":"https://doi.org/10.1109/humanoids.2011.6100856","mag":"2019901401"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2011.6100856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2011.6100856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 11th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"article","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/A5029758616","display_name":"Sebastian Albrecht","orcid":"https://orcid.org/0000-0002-3647-4043"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"S. Albrecht","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085467629","display_name":"Karinne Ram\u00edrez-Amaro","orcid":"https://orcid.org/0000-0003-4600-1722"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Ramirez-Amaro","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071075612","display_name":"Federico Ruiz-Ugalde","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Ruiz-Ugalde","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006062873","display_name":"David Weikersdorfer","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Weikersdorfer","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032338124","display_name":"Marion Leibold","orcid":"https://orcid.org/0000-0002-2802-5600"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Leibold","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014423708","display_name":"Michael Ulbrich","orcid":"https://orcid.org/0000-0002-4320-8616"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Ulbrich","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[{"id":"https://openalex.org/I4210157642","display_name":"Institute of Automation","ror":"https://ror.org/056qj1t15","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210157642","https://openalex.org/I78650965"]},{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Beetz","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Chair of Mathematical Optimization and Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Germany","institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5029758616"],"corresponding_institution_ids":["https://openalex.org/I4210157642","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":7.8301,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.97023261,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"602","last_page":"607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9962000250816345,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.9706031084060669},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7998549938201904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6689786911010742},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6319084167480469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5970718264579773},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5825163125991821},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.5034112334251404},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.41959941387176514},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39515379071235657},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38627636432647705}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9706031084060669},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7998549938201904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6689786911010742},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6319084167480469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5970718264579773},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5825163125991821},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.5034112334251404},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.41959941387176514},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39515379071235657},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38627636432647705}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2011.6100856","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2011.6100856","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 11th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W603930492","https://openalex.org/W1540685400","https://openalex.org/W1546687379","https://openalex.org/W1588628884","https://openalex.org/W1779974355","https://openalex.org/W1885639605","https://openalex.org/W1956636948","https://openalex.org/W1980440818","https://openalex.org/W1997401004","https://openalex.org/W1999874108","https://openalex.org/W2003155905","https://openalex.org/W2024004911","https://openalex.org/W2029776687","https://openalex.org/W2037997802","https://openalex.org/W2064527819","https://openalex.org/W2077247990","https://openalex.org/W2078046413","https://openalex.org/W2091921805","https://openalex.org/W2098774185","https://openalex.org/W2101129846","https://openalex.org/W2103254706","https://openalex.org/W2110525007","https://openalex.org/W2116039916","https://openalex.org/W2119017298","https://openalex.org/W2123487791","https://openalex.org/W2123871098","https://openalex.org/W2126683783","https://openalex.org/W2130726249","https://openalex.org/W2137650055","https://openalex.org/W2142326524","https://openalex.org/W2154280311","https://openalex.org/W2155851483","https://openalex.org/W2157728668","https://openalex.org/W2169498096","https://openalex.org/W2171137737","https://openalex.org/W2312766351","https://openalex.org/W6632235069","https://openalex.org/W6632871569","https://openalex.org/W6674884181","https://openalex.org/W6678621847","https://openalex.org/W6682737360","https://openalex.org/W6683121833","https://openalex.org/W6698803447"],"related_works":["https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2997729061","https://openalex.org/W2121113403"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2],"end-to-end":[3],"framework":[4],"which":[5,93],"equips":[6],"robots":[7,80],"with":[8],"the":[9,74,82,101,105],"capability":[10],"to":[11,30,45,88,96],"perform":[12,34],"reaching":[13,52,90],"motions":[14,53,76],"in":[15,37,55],"a":[16,56,63],"natural":[17],"human-like":[18],"fashion.":[19],"A":[20],"markerless,":[21],"high-accuracy,":[22],"model-":[23],"based":[24],"human":[25,75,97],"motion":[26,91],"tracker":[27],"is":[28,70],"used":[29,87],"observe":[31],"how":[32],"humans":[33],"everyday":[35],"activities":[36],"real-world":[38],"scenarios.":[39],"The":[40],"obtained":[41],"trajectories":[42,92],"are":[43,86,94],"clustered":[44],"represent":[46],"different":[47],"types":[48],"of":[49,65,104],"manipulation":[50],"and":[51,99],"occurring":[54],"kitchen":[57],"environment.":[58],"Using":[59],"bilevel":[60],"optimization":[61,68],"methods":[62],"combination":[64],"physically":[66],"inspired":[67],"principles":[69,85],"determined":[71],"that":[72],"describes":[73],"best.":[77],"For":[78],"humanoid":[79],"like":[81],"iCub":[83],"these":[84],"compute":[89],"similar":[95],"behavior":[98],"respect":[100],"individual":[102],"requirements":[103],"robotic":[106],"hardware.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
