{"id":"https://openalex.org/W3205238418","doi":"https://doi.org/10.1109/humanoids47582.2021.9555681","title":"Identification of Common Force-based Robot Skills from the Human and Robot Perspective","display_name":"Identification of Common Force-based Robot Skills from the Human and Robot Perspective","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3205238418","doi":"https://doi.org/10.1109/humanoids47582.2021.9555681","mag":"3205238418"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","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/A5068638073","display_name":"Thomas Eiband","orcid":"https://orcid.org/0000-0002-1074-9504"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Eiband","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"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":"Dongheui Lee","raw_affiliation_strings":["Chair of Human-centered Assistive Robotics, Technical University of Munich, Munich, Germany","German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Human-centered Assistive Robotics, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.25,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.88468845,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"507","last_page":"513"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9836000204086304,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7366002798080444},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.6614036560058594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6170536875724792},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5929536819458008},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5670459270477295},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5653830766677856},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5512161254882812},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.542722225189209},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5154253244400024},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.44415953755378723},{"id":"https://openalex.org/keywords/meaning","display_name":"Meaning (existential)","score":0.43907925486564636},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4352565407752991},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.13566112518310547}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7366002798080444},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.6614036560058594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6170536875724792},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5929536819458008},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5670459270477295},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5653830766677856},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5512161254882812},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.542722225189209},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5154253244400024},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.44415953755378723},{"id":"https://openalex.org/C2780876879","wikidata":"https://www.wikidata.org/wiki/Q3054749","display_name":"Meaning (existential)","level":2,"score":0.43907925486564636},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4352565407752991},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.13566112518310547},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:143584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/HUMANOIDS47582.2021.9555681>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.8399999737739563}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325698","display_name":"Helmholtz Association","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W779291494","https://openalex.org/W1581870850","https://openalex.org/W1587476724","https://openalex.org/W1812585516","https://openalex.org/W2031580264","https://openalex.org/W2045225768","https://openalex.org/W2047317708","https://openalex.org/W2063471043","https://openalex.org/W2082290707","https://openalex.org/W2086113803","https://openalex.org/W2126284968","https://openalex.org/W2134357157","https://openalex.org/W2139761653","https://openalex.org/W2151992157","https://openalex.org/W2157332596","https://openalex.org/W2159072259","https://openalex.org/W2160525194","https://openalex.org/W2562106483","https://openalex.org/W2620031215","https://openalex.org/W2625596139","https://openalex.org/W2761210343","https://openalex.org/W2800040872","https://openalex.org/W2885414200","https://openalex.org/W2938807566","https://openalex.org/W2944106375","https://openalex.org/W2957140978","https://openalex.org/W2957829502","https://openalex.org/W2963263790","https://openalex.org/W3098217538","https://openalex.org/W4205444062","https://openalex.org/W4244466289","https://openalex.org/W4244575301","https://openalex.org/W6761327112"],"related_works":["https://openalex.org/W2992516105","https://openalex.org/W2378290951","https://openalex.org/W2378373141","https://openalex.org/W1687465187","https://openalex.org/W3090097832","https://openalex.org/W3205824709","https://openalex.org/W3099427952","https://openalex.org/W2011276890","https://openalex.org/W2129733001","https://openalex.org/W3205505920"],"abstract_inverted_index":{"Learning":[0],"from":[1,11,83,118,169],"Demonstration":[2],"(LfD)":[3],"can":[4],"significantly":[5],"speed":[6],"up":[7],"the":[8,62,96,110,115,119,149,152,157,160,166],"knowledge":[9],"transfer":[10],"human":[12,170],"to":[13,36,48,76,102,128,147,164],"robot,":[14],"which":[15,59,84],"has":[16],"been":[17],"proven":[18],"for":[19],"relatively":[20],"unconstrained":[21],"actions":[22],"such":[23,130],"as":[24],"pick":[25],"and":[26,44,64,92],"place.":[27],"However,":[28],"transferring":[29],"contact":[30,57],"or":[31],"force-based":[32,81],"skills":[33,131,154,168],"(contact":[34],"skills)":[35],"a":[37,54,68,78,90,104,124,133,137],"robot":[38,120,161],"is":[39,162],"noticeably":[40],"harder":[41],"since":[42],"force":[43,63],"position":[45],"constraints":[46],"need":[47],"be":[49],"considered":[50],"simultaneously.":[51],"We":[52],"propose":[53,123],"set":[55],"of":[56,80,107,151],"skills,":[58],"differ":[60],"in":[61,136],"kinematic":[65],"constraints.":[66],"In":[67,89],"first":[69],"user":[70,94],"study,":[71,95],"several":[72],"subjects":[73,108],"were":[74,87],"asked":[75],"term":[77],"variety":[79],"interactions,":[82],"skill":[85,98,116],"names":[86,99],"derived.":[88],"second":[91],"third":[93],"identified":[97],"are":[100,145],"used":[101],"let":[103],"test":[105],"group":[106],"classify":[109],"shown":[111],"interactions.":[112],"To":[113],"evaluate":[114],"recognition":[117],"perspective,":[121],"we":[122],"feature-based":[125],"classification":[126,158],"scheme":[127],"recognize":[129,165],"with":[132],"robotic":[134],"system":[135],"LfD":[138],"setting.":[139],"Our":[140],"findings":[141],"prove":[142],"that":[143],"humans":[144],"able":[146,163],"understand":[148],"meaning":[150],"different":[153,167],"and,":[155],"using":[156],"pipeline,":[159],"demonstrations.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}