{"id":"https://openalex.org/W2053324916","doi":"https://doi.org/10.1109/icra.2014.6907339","title":"A task-parameterized probabilistic model with minimal intervention control","display_name":"A task-parameterized probabilistic model with minimal intervention control","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2053324916","doi":"https://doi.org/10.1109/icra.2014.6907339","mag":"2053324916"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907339","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/198848","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"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"]},{"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":["CH","IT"],"is_corresponding":true,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","Idiap Research Institute, Martigny, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","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":false,"raw_author_name":"Danilo Bruno","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"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), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5048780399"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I7495430"],"apc_list":null,"apc_paid":null,"fwci":16.7909,"has_fulltext":false,"cited_by_count":135,"citation_normalized_percentile":{"value":0.99234645,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3339","last_page":"3344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9962000250816345,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.983299970626831,"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/probabilistic-logic","display_name":"Probabilistic logic","score":0.625686526298523},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6043535470962524},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5584765672683716},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5491743087768555},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.5333580374717712},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.5160324573516846},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5074586272239685},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48361483216285706},{"id":"https://openalex.org/keywords/frame-of-reference","display_name":"Frame of reference","score":0.45300307869911194},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4380026161670685},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4215092658996582},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42020803689956665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36613500118255615},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2872321605682373},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25719112157821655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20636799931526184},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18086034059524536},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11748644709587097}],"concepts":[{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.625686526298523},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6043535470962524},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5584765672683716},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5491743087768555},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.5333580374717712},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.5160324573516846},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5074586272239685},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48361483216285706},{"id":"https://openalex.org/C74992021","wikidata":"https://www.wikidata.org/wiki/Q184876","display_name":"Frame of reference","level":2,"score":0.45300307869911194},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4380026161670685},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4215092658996582},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42020803689956665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36613500118255615},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2872321605682373},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25719112157821655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20636799931526184},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18086034059524536},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11748644709587097},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907339","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:infoscience.epfl.ch:198848","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/198848","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"},{"id":"pmh:oai:infoscience.tind.io:198848","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/103410","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:198848","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/198848","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":29,"referenced_works":["https://openalex.org/W1682895868","https://openalex.org/W1684361744","https://openalex.org/W1970890515","https://openalex.org/W1973102501","https://openalex.org/W1974849157","https://openalex.org/W1977013839","https://openalex.org/W1980440818","https://openalex.org/W1986014385","https://openalex.org/W2001709653","https://openalex.org/W2014565165","https://openalex.org/W2021137021","https://openalex.org/W2045330530","https://openalex.org/W2049633694","https://openalex.org/W2063182199","https://openalex.org/W2118291463","https://openalex.org/W2120636621","https://openalex.org/W2125363848","https://openalex.org/W2128221272","https://openalex.org/W2128677288","https://openalex.org/W2136719407","https://openalex.org/W2168175751","https://openalex.org/W2169694221","https://openalex.org/W2567948266","https://openalex.org/W4211008118","https://openalex.org/W6656303424","https://openalex.org/W6677522094","https://openalex.org/W6678007500","https://openalex.org/W6679317373","https://openalex.org/W6731548788"],"related_works":["https://openalex.org/W2043560067","https://openalex.org/W4283777777","https://openalex.org/W2056705880","https://openalex.org/W2159837405","https://openalex.org/W2079675399","https://openalex.org/W1995862836","https://openalex.org/W2031777065","https://openalex.org/W1829547529","https://openalex.org/W4236580668","https://openalex.org/W189831881"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,26,91,101],"task-parameterized":[3],"probabilistic":[4],"model":[5],"encoding":[6],"movements":[7],"in":[8,16,63,90,115],"the":[9,43,46,52,71,74,80,86,118],"form":[10],"of":[11,19,28,45,51,70,85,122],"virtual":[12],"spring-damper":[13,87],"systems":[14],"acting":[15],"multiple":[17],"frames":[18],"reference.":[20],"Each":[21],"candidate":[22],"coordinate":[23],"system":[24],"observes":[25],"set":[27],"demonstrations":[29],"from":[30],"its":[31],"own":[32],"perspective,":[33],"by":[34],"extracting":[35],"an":[36],"attractor":[37,61],"path":[38],"whose":[39,106],"variations":[40],"depend":[41],"on":[42],"relevance":[44],"frame":[47],"at":[48],"each":[49],"step":[50],"task.":[53],"This":[54],"information":[55],"is":[56,98],"exploited":[57],"to":[58,78,112,117],"generate":[59],"new":[60,64],"paths":[62],"situations":[65],"(new":[66],"position":[67,119],"and":[68,83,108,120,129],"orientation":[69,121],"frames),":[72],"with":[73,100],"predicted":[75],"covariances":[76],"used":[77],"estimate":[79],"varying":[81,126],"stiffness":[82],"damping":[84],"systems,":[88],"resulting":[89],"minimal":[92],"intervention":[93],"control":[94],"strategy.":[95],"The":[96],"approach":[97],"tested":[99],"7-DOFs":[102],"Barrett":[103],"WAM":[104],"manipulator":[105],"movement":[107],"impedance":[109],"behavior":[110],"need":[111],"be":[113],"modulated":[114],"regard":[116],"two":[123],"external":[124],"objects":[125],"during":[127],"demonstration":[128],"reproduction.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":12},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
