{"id":"https://openalex.org/W2120882177","doi":"https://doi.org/10.1109/ichr.2010.5686835","title":"A neural network method of learning human motion by observation in operational space","display_name":"A neural network method of learning human motion by observation in operational space","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2120882177","doi":"https://doi.org/10.1109/ichr.2010.5686835","mag":"2120882177"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","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/A5002732867","display_name":"Adam J. Spiers","orcid":"https://orcid.org/0000-0002-3221-1000"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Adam Spiers","raw_affiliation_strings":["Bristol Robotics Laboratory Department Mechanical Engineering, University of Bristol, UK","Bristol Robotics Laboratory and the Dept. Mechanical Engineering, University of Bristol, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory Department Mechanical Engineering, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128"]},{"raw_affiliation_string":"Bristol Robotics Laboratory and the Dept. Mechanical Engineering, University of Bristol, United Kingdom","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008176403","display_name":"Guido Herrmann","orcid":"https://orcid.org/0000-0001-5390-4538"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Guido Herrmann","raw_affiliation_strings":["Bristol Robotics Laboratory Department Mechanical Engineering, University of Bristol, UK","Bristol Robotics Laboratory and the Dept. Mechanical Engineering, University of Bristol, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory Department Mechanical Engineering, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128"]},{"raw_affiliation_string":"Bristol Robotics Laboratory and the Dept. Mechanical Engineering, University of Bristol, United Kingdom","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109874865","display_name":"Chris Melhuish","orcid":null},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chris Melhuish","raw_affiliation_strings":["Bristol Robotics Laboratory, University of Bristol, UK","Bristol Robotics Laboratory, University of Bristol and University of the West of England, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of Bristol, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]},{"raw_affiliation_string":"Bristol Robotics Laboratory, University of Bristol and University of the West of England, United Kingdom","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277","https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010902833","display_name":"Tony Pipe","orcid":"https://orcid.org/0000-0002-8404-294X"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tony Pipe","raw_affiliation_strings":["Bristol Robotics Laboratory, University of West of England, UK","Bristol Robotics Laboratory and the University of the West of England, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory, University of West of England, UK","institution_ids":["https://openalex.org/I4210161128"]},{"raw_affiliation_string":"Bristol Robotics Laboratory and the University of the West of England, United Kingdom","institution_ids":["https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5002732867"],"corresponding_institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.14130729,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"15","issue":null,"first_page":"86","last_page":"91"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9861000180244446,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6843241453170776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.664878249168396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6194901466369629},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6179254055023193},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5901219248771667},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5681415796279907},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5489323139190674},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5141701698303223},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.49475592374801636},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42005887627601624},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4071110188961029},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38990333676338196},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3132394254207611},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1590912938117981}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6843241453170776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.664878249168396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6194901466369629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6179254055023193},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5901219248771667},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5681415796279907},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5489323139190674},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5141701698303223},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.49475592374801636},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42005887627601624},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4071110188961029},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38990333676338196},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3132394254207611},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1590912938117981},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/ichr.2010.5686835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/8f966a39-6db9-46a7-995a-ba42ed7f8bdc","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/8f966a39-6db9-46a7-995a-ba42ed7f8bdc","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Spiers, A, Herrmann, G, Melhuish, C R & Pipe, A G 2010, A neural network method of learning human motion by observation in operational space. in 2010 IEEE-RAS International Conference on Humanoid Robots. IEEE, pp. 86-91, IEEE-RAS International Conference on Humanoid Robots, Nashville, United States, 6/12/10. https://doi.org/10.1109/ICHR.2010.5686835","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:publications/8f966a39-6db9-46a7-995a-ba42ed7f8bdc","is_oa":false,"landing_page_url":"https://www.research.manchester.ac.uk/portal/en/publications/a-neural-network-method-of-learning-human-motion-by-observation-in-operational-space(8f966a39-6db9-46a7-995a-ba42ed7f8bdc).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Spiers, A, Herrmann, G, Melhuish, C R & Pipe, A G 2010, A neural network method of learning human motion by observation in operational space. in 2010 IEEE-RAS International Conference on Humanoid Robots. IEEE, pp. 86-91, IEEE-RAS International Conference on Humanoid Robots, Nashville, United States, 6/12/10. https://doi.org/10.1109/ICHR.2010.5686835","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/58f05921-453d-4079-bdbb-74a417ae1d48","is_oa":false,"landing_page_url":"https://hdl.handle.net/1983/58f05921-453d-4079-bdbb-74a417ae1d48","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Spiers, A, Herrmann, G, Melhuish, CR & Pipe, AG 2010, A Neural Network Method of Learning Human Motion by Observation in Operational Space. in 2010 IEEE-RAS International Conference on Humanoid Robots. https://doi.org/10.1109/ICHR.2010.5686835","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:research-information.bris.ac.uk:publications/58f05921-453d-4079-bdbb-74a417ae1d48","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/58f05921-453d-4079-bdbb-74a417ae1d48","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Spiers, A, Herrmann, G, Melhuish, CR & Pipe, AG 2010, A Neural Network Method of Learning Human Motion by Observation in Operational Space. in 2010 IEEE-RAS International Conference on Humanoid Robots. https://doi.org/10.1109/ICHR.2010.5686835","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1521247912","https://openalex.org/W1885639605","https://openalex.org/W1953317701","https://openalex.org/W1967775436","https://openalex.org/W2027677971","https://openalex.org/W2033208083","https://openalex.org/W2064527819","https://openalex.org/W2064721426","https://openalex.org/W2109026728","https://openalex.org/W2112474089","https://openalex.org/W2114069554","https://openalex.org/W2115208277","https://openalex.org/W2115905066","https://openalex.org/W2164032318","https://openalex.org/W6642041008","https://openalex.org/W6666632814"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W2100910774","https://openalex.org/W1532965292","https://openalex.org/W2350319669","https://openalex.org/W2387672602"],"abstract_inverted_index":{"Learning":[0],"by":[1,94,176],"observation":[2,95],"is":[3,48,55,108,174],"a":[4,56,89,104,112,137,148],"useful":[5],"goal":[6],"for":[7,12,29,188],"humanoid":[8],"robots":[9,23],"that":[10,63,107,180],"strive":[11],"human-like":[13],"motion.":[14],"Over":[15],"time":[16],"the":[17,39,97,133,166,172],"movements":[18],"and":[19,32,43,75,171,182],"actions":[20],"of":[21,72,78,92,115,168,192],"these":[22],"are":[24,145,162,186],"likely":[25],"to":[26,37,110,121,123,158],"require":[27],"modification":[28],"different":[30],"scenarios":[31],"environments.":[33],"Therefore":[34],"being":[35],"able":[36,109],"`teach'":[38],"robot":[40,59,151],"new":[41,124],"tasks":[42],"motions":[44,118],"without":[45],"tedious":[46],"programming":[47],"highly":[49,57],"useful.":[50],"The":[51,143],"operational":[52,98],"space":[53,99,135],"formulation":[54],"elegant":[58],"manipulator":[60],"control":[61,80],"method":[62,91],"has":[64,102],"parallels":[65],"with":[66,70,96],"human":[67,128,155],"motion":[68,130],"strategies,":[69],"prioritization":[71],"task":[73],"achievement":[74],"redundant":[76],"degrees":[77],"freedom":[79],"via":[81,136],"effort":[82],"optimisation.":[83],"In":[84],"this":[85,189,195],"paper,":[86],"we":[87],"combine":[88],"novel":[90,138],"learning":[93,105,173],"framework.":[100,197],"This":[101],"created":[103],"controller":[106],"generalise":[111],"small":[113],"set":[114],"example":[116],"reaching":[117,157],"in":[119,132],"order":[120],"reach":[122],"targets":[125],"while":[126],"maintaining":[127],"like":[129,156],"trajectories":[131,144],"posture":[134],"sliding":[139],"mode":[140],"optimal":[141],"controller.":[142],"executed":[146],"on":[147,194],"(dynamically)":[149],"simulated":[150],"arm":[152],"which":[153],"performs":[154],"arbitrary":[159],"locations.":[160],"Trajectories":[161],"minimally":[163],"encoded":[164],"as":[165],"coefficients":[167],"fitted":[169],"polynomials":[170],"performed":[175],"three":[177],"neural":[178],"networks":[179],"learn":[181],"generalise.":[183],"Initial":[184],"results":[185],"presented":[187],"early":[190],"stage":[191],"research":[193],"proposed":[196]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2026-03-17T09:09:15.849793","created_date":"2025-10-10T00:00:00"}