{"id":"https://openalex.org/W4316659708","doi":"https://doi.org/10.1109/iccma56665.2022.10011592","title":"Trajectory Tracking via Probabilistic Movement Primitives for Hydraulic Manipulators","display_name":"Trajectory Tracking via Probabilistic Movement Primitives for Hydraulic Manipulators","publication_year":2022,"publication_date":"2022-11-09","ids":{"openalex":"https://openalex.org/W4316659708","doi":"https://doi.org/10.1109/iccma56665.2022.10011592"},"language":"en","primary_location":{"id":"doi:10.1109/iccma56665.2022.10011592","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iccma56665.2022.10011592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 10th International Conference on Control, Mechatronics and Automation (ICCMA)","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/A5058602141","display_name":"Kaan \u00c7elikbilek","orcid":"https://orcid.org/0000-0001-5170-8656"},"institutions":[{"id":"https://openalex.org/I150589677","display_name":"Tampere University of Applied Sciences","ror":"https://ror.org/00bwtjf83","country_code":"FI","type":"education","lineage":["https://openalex.org/I150589677"]},{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Kaan Celikbilek","raw_affiliation_strings":["Tampere University,Faculty of Computing and Electrical Engineering,Tampere,Finland","Faculty of Computing and Electrical Engineering, Tampere University, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University,Faculty of Computing and Electrical Engineering,Tampere,Finland","institution_ids":["https://openalex.org/I150589677","https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Faculty of Computing and Electrical Engineering, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085758817","display_name":"Tuomas V\u00e4lim\u00e4ki","orcid":"https://orcid.org/0000-0002-6361-5892"},"institutions":[{"id":"https://openalex.org/I150589677","display_name":"Tampere University of Applied Sciences","ror":"https://ror.org/00bwtjf83","country_code":"FI","type":"education","lineage":["https://openalex.org/I150589677"]},{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Tuomas Valimaki","raw_affiliation_strings":["Tampere University,Faculty of Automation Technology and Mechanical Engineering,Tampere,Finland","Faculty of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University,Faculty of Automation Technology and Mechanical Engineering,Tampere,Finland","institution_ids":["https://openalex.org/I150589677","https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Faculty of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083665381","display_name":"Reza Ghabcheloo","orcid":"https://orcid.org/0000-0002-6043-4236"},"institutions":[{"id":"https://openalex.org/I150589677","display_name":"Tampere University of Applied Sciences","ror":"https://ror.org/00bwtjf83","country_code":"FI","type":"education","lineage":["https://openalex.org/I150589677"]},{"id":"https://openalex.org/I166825849","display_name":"Tampere University","ror":"https://ror.org/033003e23","country_code":"FI","type":"education","lineage":["https://openalex.org/I166825849"]},{"id":"https://openalex.org/I4210133110","display_name":"Tampere University","ror":null,"country_code":"FI","type":null,"lineage":["https://openalex.org/I4210133110"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Reza Ghabcheloo","raw_affiliation_strings":["Tampere University,Faculty of Automation Technology and Mechanical Engineering,Tampere,Finland","Faculty of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tampere University,Faculty of Automation Technology and Mechanical Engineering,Tampere,Finland","institution_ids":["https://openalex.org/I150589677","https://openalex.org/I4210133110"]},{"raw_affiliation_string":"Faculty of Automation Technology and Mechanical Engineering, Tampere University, Tampere, Finland","institution_ids":["https://openalex.org/I166825849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.38539243,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"76","last_page":"81"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9750000238418579,"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/T11220","display_name":"Water Systems and Optimization","score":0.9641000032424927,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/excavator","display_name":"Excavator","score":0.8967994451522827},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7418404221534729},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6594135165214539},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6488479971885681},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.636754035949707},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.5942528247833252},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5014348030090332},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42869463562965393},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.41240397095680237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26759204268455505},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2372145652770996},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23013976216316223}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.8967994451522827},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7418404221534729},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6594135165214539},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6488479971885681},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.636754035949707},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.5942528247833252},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5014348030090332},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42869463562965393},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.41240397095680237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26759204268455505},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2372145652770996},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23013976216316223},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccma56665.2022.10011592","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iccma56665.2022.10011592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 10th International Conference on Control, Mechatronics and Automation (ICCMA)","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":26,"referenced_works":["https://openalex.org/W140607693","https://openalex.org/W261413225","https://openalex.org/W1998221786","https://openalex.org/W2045784751","https://openalex.org/W2049228863","https://openalex.org/W2088799062","https://openalex.org/W2103220935","https://openalex.org/W2124246586","https://openalex.org/W2140801763","https://openalex.org/W2171131682","https://openalex.org/W2286611196","https://openalex.org/W2766578458","https://openalex.org/W2965133842","https://openalex.org/W2999124543","https://openalex.org/W3009632987","https://openalex.org/W3104787446","https://openalex.org/W3132694240","https://openalex.org/W3135758163","https://openalex.org/W3165886407","https://openalex.org/W4205763583","https://openalex.org/W4286891162","https://openalex.org/W6605660972","https://openalex.org/W6678766759","https://openalex.org/W6680971464","https://openalex.org/W6696185004","https://openalex.org/W6803241323"],"related_works":["https://openalex.org/W2351705829","https://openalex.org/W2324465777","https://openalex.org/W1972450215","https://openalex.org/W3177989151","https://openalex.org/W2084330116","https://openalex.org/W2016332605","https://openalex.org/W913081724","https://openalex.org/W2889222677","https://openalex.org/W3041683633","https://openalex.org/W2373176311"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,122,139],"novel":[4],"application":[5],"of":[6,13,51,73,94,129,132,142,150],"Probabilistic":[7],"Movement":[8],"Primitives":[9],"(ProMPs)":[10],"for":[11,83,158],"control":[12,44,59,86,134],"industrial":[14],"hydraulic":[15,26,42],"manipulators.":[16],"We":[17,145],"show":[18,101],"how":[19],"to":[20,55,88,111],"include":[21],"both":[22],"manipulator":[23],"kinematics":[24],"and":[25,46,76,154],"cylinder":[27],"dynamics":[28],"in":[29,61],"the":[30,52,58,62,70,74,77,84,103,107,112,130,133,143,151],"trajectory":[31],"learning.":[32],"The":[33,49],"solution":[34],"is":[35,65,116,136],"based":[36],"on":[37,138],"approximate":[38],"quasi-static":[39],"relation":[40],"between":[41],"valve":[43],"commands":[45,87],"joint":[47],"variables.":[48],"benefit":[50],"approach":[53,68],"compared":[54,110],"naively":[56],"adding":[57],"inputs":[60],"ProMPs":[63,92],"vector":[64,75],"that":[66,102],"our":[67],"reduces":[69,106],"required":[71],"dimension":[72],"corresponding":[78],"cross-covariances.":[79],"Moreover,":[80],"this":[81],"allows":[82],"feedforward":[85],"be":[89],"sampled":[90],"from":[91,121],"instead":[93],"being":[95],"calculated":[96],"during":[97],"operation.":[98],"Our":[99],"results":[100],"proposed":[104],"framework":[105],"noise":[108],"when":[109],"latter.":[113],"Trajectory":[114],"learning":[115],"done":[117],"using":[118],"data":[119],"collected":[120],"real":[123],"Komatsu":[124],"PC138US-8":[125],"excavator,":[126],"while":[127],"demonstration":[128],"efficacy":[131],"system":[135],"shown":[137],"high-fidelity":[140],"simulator":[141],"machine.":[144],"also":[146],"analyze":[147],"different":[148],"choices":[149],"basis":[152],"function":[153],"compare":[155],"their":[156],"suitability":[157],"encoding":[159],"an":[160],"excavator":[161],"digging":[162],"motion.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}