{"id":"https://openalex.org/W1489796207","doi":"https://doi.org/10.1109/icra.2015.7139285","title":"A novel approach to dynamic movement imitation based on quadratic programming","display_name":"A novel approach to dynamic movement imitation based on quadratic programming","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1489796207","doi":"https://doi.org/10.1109/icra.2015.7139285","mag":"1489796207"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139285","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5080762768","display_name":"Carlos Cardoso","orcid":"https://orcid.org/0000-0001-7400-3659"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Carlos Cardoso","raw_affiliation_strings":["Universidade de Lisboa, Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","[Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade de Lisboa, Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"]},{"raw_affiliation_string":"[Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal]","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Lorenzo Jamone","raw_affiliation_strings":["Universidade de Lisboa, Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","[Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade de Lisboa, Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"]},{"raw_affiliation_string":"[Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal]","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028959217","display_name":"Alexandre Bernardino","orcid":"https://orcid.org/0000-0003-3991-1269"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alexandre Bernardino","raw_affiliation_strings":["Universidade de Lisboa, Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","[Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidade de Lisboa, Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Lisbon, Portugal","institution_ids":["https://openalex.org/I141596103","https://openalex.org/I4210166615"]},{"raw_affiliation_string":"[Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Lisbon, Portugal]","institution_ids":["https://openalex.org/I141596103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"906","last_page":"911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9986000061035156,"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":0.9983000159263611,"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/computer-science","display_name":"Computer science","score":0.7207653522491455},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7106381058692932},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7053222060203552},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6990405321121216},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6498258113861084},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.623712420463562},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.6027877330780029},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5400261878967285},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.5127147436141968},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4476623833179474},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4424781799316406},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.43207675218582153},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.41890862584114075},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.41470810770988464},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4051915109157562},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3168100416660309},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19909334182739258},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19584238529205322},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1580250859260559}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7207653522491455},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7106381058692932},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7053222060203552},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6990405321121216},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6498258113861084},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.623712420463562},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.6027877330780029},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5400261878967285},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.5127147436141968},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4476623833179474},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4424781799316406},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.43207675218582153},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.41890862584114075},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.41470810770988464},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4051915109157562},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3168100416660309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19909334182739258},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19584238529205322},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1580250859260559},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/icra.2015.7139285","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139285","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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":24,"referenced_works":["https://openalex.org/W1540685400","https://openalex.org/W1577607890","https://openalex.org/W1684361744","https://openalex.org/W1976207411","https://openalex.org/W1982803779","https://openalex.org/W1986014385","https://openalex.org/W2012204020","https://openalex.org/W2056884876","https://openalex.org/W2075779309","https://openalex.org/W2081034428","https://openalex.org/W2109606373","https://openalex.org/W2110304639","https://openalex.org/W2121863487","https://openalex.org/W2128677288","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2140801763","https://openalex.org/W2145097496","https://openalex.org/W2151044655","https://openalex.org/W2167340365","https://openalex.org/W4211008118","https://openalex.org/W4214717370","https://openalex.org/W6632235069","https://openalex.org/W6680971464"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W2054817525","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W4231448069","https://openalex.org/W2019128690","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W2270789747","https://openalex.org/W436931041"],"abstract_inverted_index":{"This":[0,50],"paper":[1],"proposes":[2],"a":[3,22,162,176,188],"novel":[4],"approach":[5],"to":[6,14,30,32,71,129,143],"generate":[7],"trajectories":[8,62,186],"that":[9,148],"generalize":[10],"given":[11],"demonstrations":[12],"according":[13],"optimality":[15],"criteria.":[16],"By":[17],"formulating":[18],"the":[19,39,44,48,57,73,77,84,95,122,131,138,153,193,197,206],"problem":[20,163],"as":[21,64],"quadratic":[23,160],"program":[24],"we":[25],"can":[26,168],"efficiently":[27],"incorporate":[28],"constraints":[29,204],"adapt":[31],"new":[33],"desired":[34],"motion":[35],"requirements":[36,82],"while":[37,79],"achieving":[38],"main":[40],"goal":[41],"of":[42,47,61,76,105,109,119,159,166,173,192,196,205],"matching":[43],"acceleration":[45],"profile":[46],"demonstration.":[49,154],"makes":[51],"our":[52],"method":[53,91],"particularly":[54],"suited":[55],"for":[56,83,126],"imitation":[58],"and":[59,88,107,135,141],"generalization":[60],"such":[63],"hitting":[65],"movements,":[66],"where":[67],"it":[68,114],"is":[69],"crucial":[70],"maintain":[72],"dynamic":[74],"traits":[75,195],"demonstration":[78],"respecting":[80],"strict":[81],"goals":[85],"position,":[86],"velocity":[87],"time.":[89],"Our":[90,182],"draws":[92],"inspiration":[93],"from":[94],"Dynamical":[96],"Movement":[97],"Primitives":[98],"(DMPs)":[99],"framework,":[100],"preserving":[101],"its":[102],"desirable":[103],"properties":[104],"flexibility":[106,201],"rejection":[108],"disturbances":[110],"during":[111,137],"execution.":[112],"Moreover,":[113],"offers":[115],"an":[116],"higher":[117],"degree":[118],"control":[120],"on":[121],"generated":[123,207],"solution,":[124],"allowing":[125,179],"example":[127],"i)":[128],"limit":[130],"instantaneous":[132],"positions,":[133],"velocities":[134],"accelerations":[136],"whole":[139],"trajectory,":[140],"ii)":[142],"add":[144],"intermediate":[145],"way":[146],"points":[147],"were":[149],"not":[150],"present":[151],"in":[152,171,175,185,202],"With":[155],"current":[156],"state-of-the-art":[157],"solvers":[158],"programs,":[161],"with":[164,187,199],"hundreds":[165],"parameters":[167],"be":[169],"solved":[170],"tens":[172],"milliseconds":[174],"standard":[177],"computer,":[178],"practical":[180],"applications.":[181],"methodology":[183],"results":[184],"very":[189],"good":[190],"approximation":[191],"shape":[194],"demonstration,":[198],"additional":[200],"specifying":[203],"trajectory.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
