{"id":"https://openalex.org/W2064347646","doi":"https://doi.org/10.1109/icra.2014.6906941","title":"Dynamic Movement Primitives for cooperative manipulation and synchronized motions","display_name":"Dynamic Movement Primitives for cooperative manipulation and synchronized motions","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2064347646","doi":"https://doi.org/10.1109/icra.2014.6906941","mag":"2064347646"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6906941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906941","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1192232","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028926639","display_name":"Jonas Umlauft","orcid":"https://orcid.org/0000-0003-2865-4658"},"institutions":[{"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":"Jonas Umlauft","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009615038","display_name":"Dominik Sieber","orcid":"https://orcid.org/0000-0003-3110-944X"},"institutions":[{"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":"Dominik Sieber","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"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":"Sandra Hirche","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":4.6595,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.96033125,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"766","last_page":"771"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7260281443595886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7241381406784058},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.6299886703491211},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.567305326461792},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5634007453918457},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5521796345710754},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5456727743148804},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5379709601402283},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5083970427513123},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5046385526657104},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46408602595329285},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46186476945877075},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4608802795410156},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.421855092048645},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38731616735458374},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3595341145992279},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3522148132324219},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.349994957447052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3454538881778717},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13786581158638},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.089129239320755},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06058371067047119}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7260281443595886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7241381406784058},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.6299886703491211},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.567305326461792},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5634007453918457},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5521796345710754},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5456727743148804},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5379709601402283},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5083970427513123},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5046385526657104},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46408602595329285},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46186476945877075},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4608802795410156},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.421855092048645},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38731616735458374},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3595341145992279},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3522148132324219},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.349994957447052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3454538881778717},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13786581158638},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.089129239320755},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06058371067047119},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","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},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6906941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6906941","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1192232","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1192232","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1192232","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1192232","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1512235915","https://openalex.org/W1516801383","https://openalex.org/W1602614133","https://openalex.org/W1974489012","https://openalex.org/W1990032525","https://openalex.org/W2024070543","https://openalex.org/W2034173299","https://openalex.org/W2045569417","https://openalex.org/W2053983794","https://openalex.org/W2110304639","https://openalex.org/W2115817551","https://openalex.org/W2116226448","https://openalex.org/W2130532917","https://openalex.org/W2164538850","https://openalex.org/W2498639309","https://openalex.org/W2622604310","https://openalex.org/W6738980247","https://openalex.org/W7062071732"],"related_works":["https://openalex.org/W2291700020","https://openalex.org/W2086863125","https://openalex.org/W3096187747","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2001900524","https://openalex.org/W3004220142","https://openalex.org/W1531114845","https://openalex.org/W2216521820","https://openalex.org/W2917916498"],"abstract_inverted_index":{"Cooperative":[0],"manipulation,":[1],"where":[2],"several":[3],"robots":[4,43],"jointly":[5],"manipulate":[6],"an":[7,10,89],"object":[8],"from":[9],"initial":[11],"configuration":[12,16],"to":[13,52,75],"a":[14,23,68,77,100],"final":[15],"while":[17,80],"preserving":[18],"the":[19,31,42,73,82],"robot":[20,56],"formation,":[21],"poses":[22],"great":[24],"challenge":[25],"in":[26,45,99],"robotics.":[27],"Here,":[28],"we":[29],"treat":[30],"problem":[32],"of":[33],"designing":[34],"motion":[35,110],"primitives":[36],"for":[37],"cooperative":[38,106],"manipulation":[39,107],"such":[40],"that":[41],"move":[44],"formation":[46,69,79],"and":[47,65,108],"are":[48,58],"robust":[49],"with":[50,103],"respect":[51],"external":[53,93],"disturbances.":[54,94],"Individual":[55],"trajectories":[57],"generated":[59],"by":[60,67],"Dynamic":[61],"Movement":[62],"Primitives":[63],"(DMPs)":[64],"coupled":[66],"control":[70,86],"approach":[71,96],"enabling":[72],"DMP-trajectories":[74],"preserve":[76],"given":[78],"performing":[81],"manipulation.":[83],"The":[84,95],"proposed":[85],"scheme":[87],"achieves":[88],"increased":[90],"adaptability":[91],"under":[92],"is":[97],"evaluated":[98],"full-scale":[101],"experiment":[102],"two":[104],"prototypical":[105],"synchronized":[109],"tasks.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
