{"id":"https://openalex.org/W2089540410","doi":"https://doi.org/10.1109/icra.2014.6907199","title":"Null space redundancy learning for a flexible surgical robot","display_name":"Null space redundancy learning for a flexible surgical robot","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2089540410","doi":"https://doi.org/10.1109/icra.2014.6907199","mag":"2089540410"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907199","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/198847","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044420843","display_name":"Danilo Bruno","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Danilo Bruno","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) - Via Morego, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) - Via Morego, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH","IT"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) - Via Morego, Genova, Italy","Idiap Research Institute, Martigny, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) - Via Morego, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) - Via Morego, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT) - Via Morego, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044420843"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.8204,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.78988227,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"6","issue":null,"first_page":"2443","last_page":"2448"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983999729156494,"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":0.9983999729156494,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9965000152587891,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.989799976348877,"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/redundancy","display_name":"Redundancy (engineering)","score":0.7858939170837402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6449694633483887},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6027342677116394},{"id":"https://openalex.org/keywords/surgical-robot","display_name":"Surgical robot","score":0.5955040454864502},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.583159327507019},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5788043737411499},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5512167811393738},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5403943061828613},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5103499293327332},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48929569125175476},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.467998206615448},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4477901756763458},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3809231221675873},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33955684304237366},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2654973864555359},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.11796477437019348},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10478019714355469}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7858939170837402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6449694633483887},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6027342677116394},{"id":"https://openalex.org/C3017684034","wikidata":"https://www.wikidata.org/wiki/Q942348","display_name":"Surgical robot","level":3,"score":0.5955040454864502},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.583159327507019},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5788043737411499},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5512167811393738},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5403943061828613},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5103499293327332},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48929569125175476},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.467998206615448},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4477901756763458},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3809231221675873},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33955684304237366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2654973864555359},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.11796477437019348},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10478019714355469},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907199","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:CiteSeerX.psu:10.1.1.432.6226","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.432.6226","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.calinon.ch/papers/Bruno-ICRA2014.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:198847","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/198847","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:198847","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/198847","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1977013839","https://openalex.org/W2015106839","https://openalex.org/W2040972412","https://openalex.org/W2044721980","https://openalex.org/W2045330530","https://openalex.org/W2072293370","https://openalex.org/W2101667962","https://openalex.org/W2112474089","https://openalex.org/W2128221272","https://openalex.org/W2128677288","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2140204284","https://openalex.org/W2148786331","https://openalex.org/W2154543878","https://openalex.org/W2168921921","https://openalex.org/W2170888640","https://openalex.org/W3141952980","https://openalex.org/W6679317373","https://openalex.org/W6682066747"],"related_works":["https://openalex.org/W4244134337","https://openalex.org/W2966959764","https://openalex.org/W2148607898","https://openalex.org/W1965568013","https://openalex.org/W2910696801","https://openalex.org/W2391238498","https://openalex.org/W1992604608","https://openalex.org/W2014708888","https://openalex.org/W2016836876","https://openalex.org/W2042803082"],"abstract_inverted_index":{"A":[0],"new":[1,35,62],"challenge":[2],"for":[3,20,60],"surgical":[4,63],"robotics":[5],"is":[6],"placed":[7],"in":[8],"the":[9,26,30,33,50,70,81,84,89],"use":[10],"of":[11,32,83],"flexible":[12,46],"manipulators,":[13],"to":[14,39,42,86,106],"perform":[15],"procedures":[16],"that":[17],"are":[18,104],"impossible":[19],"currently":[21],"available":[22],"rigid":[23],"robots.":[24],"Since":[25],"surgeon":[27],"only":[28,91],"controls":[29],"end-effector":[31],"manipulator,":[34],"control":[36,100],"strategies":[37],"need":[38],"be":[40,67],"developed":[41],"correctly":[43],"move":[44],"its":[45],"body":[47],"without":[48],"damaging":[49],"surrounding":[51],"environment.":[52],"This":[53],"paper":[54],"shows":[55],"how":[56],"a":[57,61,96,111],"positional":[58],"controller":[59],"robot":[64],"(STIFF-FLOP)":[65],"can":[66],"learnt":[68],"from":[69],"demonstrations":[71],"given":[72],"by":[73,94],"an":[74],"expert":[75],"user.":[76],"The":[77,102],"proposed":[78],"algorithm":[79],"exploits":[80],"variability":[82],"task":[85],"comply":[87],"with":[88],"constraints":[90],"when":[92],"needed,":[93],"implementing":[95],"minimal":[97],"intervention":[98],"principle":[99],"strategy.":[101],"results":[103],"applied":[105],"scenarios":[107],"involving":[108],"movements":[109],"inside":[110],"constrained":[112],"environment":[113],"and":[114],"disturbance":[115],"rejection.":[116]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}