{"id":"https://openalex.org/W2790705151","doi":"https://doi.org/10.1109/humanoids.2018.8624970","title":"Learning Task-Specific Dynamics to Improve Whole-Body Control","display_name":"Learning Task-Specific Dynamics to Improve Whole-Body Control","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2790705151","doi":"https://doi.org/10.1109/humanoids.2018.8624970","mag":"2790705151"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8624970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8624970","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1803.01978","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Andrej Gams","orcid":null},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Andrej Gams","raw_affiliation_strings":["Dept. of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sean A. Mason","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sean A. Mason","raw_affiliation_strings":["Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ales Ude","orcid":null},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Ales Ude","raw_affiliation_strings":["Dept. of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Stefan Schaal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ludovic Rigbetti","orcid":null},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ludovic Rigbetti","raw_affiliation_strings":["Tandon School of Engineering, New York University, New York, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University, New York, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"30","issue":null,"first_page":"280","last_page":"283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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":0.996999979019165,"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":0.9891999959945679,"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":0.9833999872207642,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.6937999725341797},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6797000169754028},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6794000267982483},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6467000246047974},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5404000282287598},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.49000000953674316},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46790000796318054},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4481000006198883},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4293000102043152}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6937999725341797},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6800000071525574},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6797000169754028},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6794000267982483},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6467000246047974},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5404000282287598},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.49000000953674316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46790000796318054},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4481000006198883},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4320000112056732},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4293000102043152},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.40779998898506165},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4050999879837036},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.38659998774528503},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.33180001378059387},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.3203999996185303},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.3174999952316284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30149999260902405},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2924000024795532},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2818000018596649},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2630999982357025},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.2556000053882599},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.2547000050544739}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2018.8624970","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8624970","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1803.01978","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.01978","pdf_url":"https://arxiv.org/pdf/1803.01978","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1803.01978","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.01978","pdf_url":"https://arxiv.org/pdf/1803.01978","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1431688706","https://openalex.org/W1499277207","https://openalex.org/W1661823234","https://openalex.org/W1681704694","https://openalex.org/W1995086487","https://openalex.org/W1997543377","https://openalex.org/W2019606703","https://openalex.org/W2041242313","https://openalex.org/W2067083122","https://openalex.org/W2069361969","https://openalex.org/W2078763164","https://openalex.org/W2080421646","https://openalex.org/W2109026728","https://openalex.org/W2116501050","https://openalex.org/W2120741941","https://openalex.org/W2136719407","https://openalex.org/W2157720571","https://openalex.org/W2197436471","https://openalex.org/W2217503414","https://openalex.org/W2344260694","https://openalex.org/W2736363424","https://openalex.org/W4300309110","https://openalex.org/W6634153895","https://openalex.org/W6678367057","https://openalex.org/W6680657880"],"related_works":[],"abstract_inverted_index":{"In":[0,74,122],"task-based":[1],"inverse":[2],"dynamics":[3,146],"control,":[4],"reference":[5,93],"accelerations":[6],"used":[7],"to":[8,56,80,111,124,137],"follow":[9],"a":[10,131,153],"desired":[11],"plan":[12],"can":[13,135],"be":[14],"broken":[15],"down":[16],"into":[17],"feedforward":[18],"and":[19,106,157],"feedback":[20,23,52,87,113],"trajectories.":[21],"The":[22,60],"term":[24],"accounts":[25],"for":[26,116],"tracking":[27,47],"errors":[28],"that":[29],"are":[30],"caused":[31],"from":[32],"inaccurate":[33],"dynamic":[34],"models":[35],"or":[36],"external":[37],"disturbances.":[38],"On":[39],"underactuated,":[40],"free-floating":[41],"robots,":[42],"such":[43],"as":[44],"humanoids,":[45],"good":[46],"accuracy":[48],"often":[49,67],"necessitates":[50],"high":[51],"gains,":[53,114],"which":[54,128],"leads":[55],"undesirable":[57],"stiff":[58],"behaviors.":[59],"magnitude":[61],"of":[62,85,101,119,147,150,152,164,173],"these":[63],"gains":[64],"is":[65],"anyways":[66],"strongly":[68],"limited":[69],"by":[70,89],"the":[71,82,86,99,102,109,120,144,148,161,165,171,174],"control":[72],"bandwidth.":[73],"this":[75],"paper,":[76],"we":[77,96],"show":[78],"how":[79],"reduce":[81,112],"required":[83],"contribution":[84],"controller":[88],"incorporating":[90],"learned":[91],"task-space":[92,145],"accelerations.":[94],"Thus,":[95],"i)":[97],"improve":[98],"execution":[100],"given":[103],"specific":[104],"task,":[105],"ii)":[107],"offer":[108],"means":[110],"providing":[115],"greater":[117],"compliance":[118],"system.":[121],"contrast":[123],"learning":[125],"task-specific":[126],"joint-torques,":[127],"might":[129],"produce":[130],"similar":[132],"effect":[133],"but":[134],"lead":[136],"poor":[138],"generalization,":[139],"our":[140],"approach":[141],"directly":[142],"learns":[143],"center":[149],"mass":[151],"humanoid":[154,168],"robot.":[155],"Simulated":[156],"real-world":[158],"results":[159],"on":[160],"lower":[162],"part":[163],"Sarcos":[166],"Hermes":[167],"robot":[169],"demonstrate":[170],"applicability":[172],"approach.":[175]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2018-03-29T00:00:00"}