{"id":"https://openalex.org/W2914707001","doi":"https://doi.org/10.1109/humanoids.2018.8625010","title":"An Efficient PbD Framework for Fast Deployment of Bi-Manual Assembly Tasks","display_name":"An Efficient PbD Framework for Fast Deployment of Bi-Manual Assembly Tasks","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2914707001","doi":"https://doi.org/10.1109/humanoids.2018.8625010","mag":"2914707001"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625010","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":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://dirros.openscience.si/IzpisGradiva.php?id=10327","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020114289","display_name":"Bojan Nemec","orcid":"https://orcid.org/0000-0002-8728-7731"},"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":"Bojan Nemec","raw_affiliation_strings":["Department of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062518437","display_name":"Leon \u017dlajpah","orcid":"https://orcid.org/0000-0002-2820-2697"},"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":"Leon Zlajpah","raw_affiliation_strings":["Department of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027424280","display_name":"Sebastjan Slajpa","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sebastjan Slajpa","raw_affiliation_strings":["Faculty of Electrical Engineering, Robo Lab, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Robo Lab, Ljubljana, Slovenia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012099519","display_name":"Jo\u017eica Pi\u0161kur","orcid":"https://orcid.org/0000-0002-4706-1156"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jozica Piskur","raw_affiliation_strings":["Faculty of Electrical Engineering, Robo Lab, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Robo Lab, Ljubljana, Slovenia","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019399129","display_name":"Ale\u0161 Ude","orcid":"https://orcid.org/0000-0003-3677-3972"},"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":["Department of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"166","last_page":"173"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9898999929428101,"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/robot","display_name":"Robot","score":0.7343277931213379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.732745885848999},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6628220677375793},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6357413530349731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5383068323135376},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5265503525733948},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5165828466415405},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5164604187011719},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.47583723068237305},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.43996235728263855},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4331481456756592},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3782285153865814},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3541247844696045},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14064136147499084}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7343277931213379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.732745885848999},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6628220677375793},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6357413530349731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5383068323135376},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5265503525733948},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5165828466415405},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5164604187011719},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.47583723068237305},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.43996235728263855},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4331481456756592},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3782285153865814},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3541247844696045},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14064136147499084},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2018.8625010","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625010","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:dirros.openscience.si:IzpisGradiva.php?id=10327","is_oa":true,"landing_page_url":"https://dirros.openscience.si/IzpisGradiva.php?id=10327","pdf_url":null,"source":{"id":"https://openalex.org/S4377196363","display_name":"DiRROS repository (University of Maribor)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I37696226","host_organization_name":"University of Maribor","host_organization_lineage":["https://openalex.org/I37696226"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"HUMANOIDS 2018, pp. 166-173, 2018.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:dirros.openscience.si:IzpisGradiva.php?id=10327","is_oa":true,"landing_page_url":"https://dirros.openscience.si/IzpisGradiva.php?id=10327","pdf_url":null,"source":{"id":"https://openalex.org/S4377196363","display_name":"DiRROS repository (University of Maribor)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I37696226","host_organization_name":"University of Maribor","host_organization_lineage":["https://openalex.org/I37696226"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"HUMANOIDS 2018, pp. 166-173, 2018.","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1682895868","https://openalex.org/W1967097499","https://openalex.org/W2029910730","https://openalex.org/W2037686194","https://openalex.org/W2045080324","https://openalex.org/W2056114668","https://openalex.org/W2063182199","https://openalex.org/W2064173399","https://openalex.org/W2099949372","https://openalex.org/W2113260111","https://openalex.org/W2136719407","https://openalex.org/W2137650055","https://openalex.org/W2141103690","https://openalex.org/W2149085596","https://openalex.org/W2156441448","https://openalex.org/W2157480563","https://openalex.org/W2158778644","https://openalex.org/W2164450398","https://openalex.org/W2172158418","https://openalex.org/W2497095191","https://openalex.org/W2568416995","https://openalex.org/W2579638008","https://openalex.org/W2737024051","https://openalex.org/W2767508918","https://openalex.org/W4211008118","https://openalex.org/W4245991817","https://openalex.org/W6661704981","https://openalex.org/W6723262837"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2566006169","https://openalex.org/W1567818861","https://openalex.org/W2987774938","https://openalex.org/W2402852349","https://openalex.org/W2724299411","https://openalex.org/W4365788246","https://openalex.org/W1936970628"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,22,40,141,211,214],"two-phase":[3],"programming":[4],"by":[5,33,59,93],"demonstration":[6],"(PbD)":[7],"framework,":[8],"which":[9,137,190],"enables":[10],"fast":[11],"deployment":[12],"of":[13,43,63,117,146,155,173,195,201,218],"complex":[14],"bi-manual":[15,202,215],"assembly":[16,147,226],"tasks.":[17],"The":[18,85,153,177,205],"first":[19],"phase":[20,50],"is":[21,51,138,158],"pre-learning":[23],"phase,":[24,68,126,189],"where":[25,213],"the":[26,44,52,60,64,69,73,82,90,96,99,106,118,122,127,131,150,164,170,174,183,187,193],"robot":[27,70,97,107,128,178,203,216,222],"observes":[28],"multiple":[29],"task":[30,45,75,212],"demonstrations":[31],"performed":[32,58],"humans.":[34],"Applying":[35],"motion":[36],"segmentation,":[37],"it":[38,78,103],"builds":[39],"rough":[41,74],"plan":[42],"to":[46],"be":[47],"accomplished.":[48],"Next":[49],"policy":[53],"refinement":[54],"with":[55],"incremental":[56],"learning,":[57],"kinesthetic":[61],"guidance":[62],"robot.":[65],"In":[66],"this":[67,125,156],"already":[71],"knows":[72],"plan,":[76],"so":[77],"can":[79,87,104,166],"actively":[80],"follow":[81],"pre-learned":[83,175],"trajectories.":[84],"operator":[86,165],"arbitrarily":[88],"modify":[89,113],"execution":[91],"speed":[92],"simply":[94],"pushing":[95],"along":[98],"demonstrated":[100],"trajectory.":[101,176],"Moreover,":[102],"drive":[105],"forward":[108],"and":[109,111,134,143,199],"backward,":[110],"incrementally":[112],"only":[114,168],"those":[115],"parts":[116],"trajectory":[119],"that":[120],"need":[121],"refinement.":[123],"During":[124],"estimates":[129],"also":[130],"interaction":[132],"forces":[133],"environmental":[135],"compliance,":[136],"needed":[139],"for":[140],"robust":[142],"stable":[144],"accomplished":[145],"tasks":[148],"in":[149,159,186,210],"exploitation":[151],"phase.":[152],"benefit":[154],"framework":[157],"improved":[160],"learning":[161,194,200],"efficiency":[162],"since":[163],"concentrate":[167],"on":[169],"fine":[171],"adjustment":[172],"optimizes":[179],"its":[180],"configuration":[181],"from":[182],"data":[184],"obtained":[185],"prelearning":[188],"substantially":[191],"facilitates":[192],"kinematic":[196],"redundant":[197],"mechanisms":[198],"mechanisms.":[204],"proposed":[206],"scheme":[207],"was":[208],"validated":[209],"composed":[217],"two":[219],"Kuka":[220],"LWR-4":[221],"arms":[223],"performs":[224],"an":[225],"task.":[227]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}