{"id":"https://openalex.org/W4206753661","doi":"https://doi.org/10.1109/icar53236.2021.9659356","title":"A New Phase Determination Algorithm for Iterative Learning of Human-Robot Collaboration","display_name":"A New Phase Determination Algorithm for Iterative Learning of Human-Robot Collaboration","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4206753661","doi":"https://doi.org/10.1109/icar53236.2021.9659356"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659356","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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/A5049022354","display_name":"Mihael Simoni\u010d","orcid":"https://orcid.org/0000-0002-0346-7082"},"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":"Mihael Simonic","raw_affiliation_strings":["Department of Automatics, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089568630","display_name":"Miha Deni\u0161a","orcid":"https://orcid.org/0000-0002-9478-4656"},"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":"Miha Denisa","raw_affiliation_strings":["Department of Automatics, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","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, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"last","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, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Humanoid and Cognitive Robotics Lab, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24754482,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"26","issue":null,"first_page":"480","last_page":"485"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9954000115394592,"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":0.9954000115394592,"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9642000198364258,"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/dynamic-time-warping","display_name":"Dynamic time warping","score":0.790331244468689},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7422533631324768},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7185091376304626},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6441848874092102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5611532926559448},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5008273124694824},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.493762344121933},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4512341618537903},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4482212960720062},{"id":"https://openalex.org/keywords/image-warping","display_name":"Image warping","score":0.4421250522136688},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.42546021938323975},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4075123071670532},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3625783324241638},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33078357577323914},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26903295516967773},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.11345437169075012},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.087618887424469}],"concepts":[{"id":"https://openalex.org/C88516994","wikidata":"https://www.wikidata.org/wiki/Q1268863","display_name":"Dynamic time warping","level":2,"score":0.790331244468689},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7422533631324768},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7185091376304626},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6441848874092102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5611532926559448},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5008273124694824},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.493762344121933},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4512341618537903},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4482212960720062},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.4421250522136688},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.42546021938323975},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4075123071670532},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3625783324241638},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33078357577323914},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26903295516967773},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.11345437169075012},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.087618887424469},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar53236.2021.9659356","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659356","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1623311931","https://openalex.org/W1967097499","https://openalex.org/W1974849157","https://openalex.org/W1977013839","https://openalex.org/W2012058822","https://openalex.org/W2029910730","https://openalex.org/W2053324916","https://openalex.org/W2056114668","https://openalex.org/W2078763164","https://openalex.org/W2129202194","https://openalex.org/W2140801763","https://openalex.org/W2157480563","https://openalex.org/W2209319420","https://openalex.org/W2221921493","https://openalex.org/W2331138946","https://openalex.org/W2767508918","https://openalex.org/W2981697369","https://openalex.org/W2987583674","https://openalex.org/W3153455765","https://openalex.org/W6653300647","https://openalex.org/W6680971464"],"related_works":["https://openalex.org/W2347413598","https://openalex.org/W1918542373","https://openalex.org/W71572444","https://openalex.org/W1997383766","https://openalex.org/W2350336482","https://openalex.org/W2154472250","https://openalex.org/W2229352698","https://openalex.org/W1989753795","https://openalex.org/W3133699834","https://openalex.org/W2542622692"],"abstract_inverted_index":{"In":[0,15],"this":[1,78],"paper":[2],"we":[3,80],"discuss":[4],"a":[5,45,82],"methodology":[6],"for":[7,86],"learning":[8,54,109],"human-robot":[9,111],"collaboration":[10,112],"tasks":[11,113],"by":[12,30],"human":[13],"guidance.":[14],"the":[16,19,22,28,34,39,50,56,64,69,72,88,102],"proposed":[17,94],"framework,":[18],"robot":[20],"learns":[21],"task":[23,29],"in":[24,108],"multiple":[25],"repetitions":[26],"of":[27,52,58,71,90,104,110],"comparing":[31,49],"and":[32,99],"adapting":[33],"performed":[35],"trajectories":[36,51],"so":[37],"that":[38],"robot's":[40],"performance":[41,103],"naturally":[42],"evolves":[43],"into":[44],"collaborative":[46,74,118],"behavior.":[47,75],"When":[48],"two":[53,91],"cycles,":[55],"problem":[57],"accurate":[59],"phase":[60,66],"determination":[61,67],"arises":[62],"because":[63],"imprecise":[65],"affects":[68],"precision":[70],"learned":[73],"To":[76],"solve":[77],"issue,":[79],"propose":[81],"new":[83],"projection":[84],"algorithm":[85,95],"measuring":[87],"similarity":[89],"trajectories.":[92],"The":[93],"was":[96],"experimentally":[97],"verified":[98],"compared":[100],"to":[101],"dynamic":[105],"time":[106],"warping":[107],"with":[114],"Franka":[115],"Emika":[116],"Panda":[117],"robot.":[119]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
