{"id":"https://openalex.org/W1606738297","doi":"https://doi.org/10.1109/icra.2015.7139638","title":"Learning inverse dynamics models with contacts","display_name":"Learning inverse dynamics models with contacts","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1606738297","doi":"https://doi.org/10.1109/icra.2015.7139638","mag":"1606738297"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139638","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":"preprint","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/A5002235575","display_name":"Roberto Calandra","orcid":"https://orcid.org/0000-0001-9430-8433"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Roberto Calandra","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022711233","display_name":"Serena Ivaldi","orcid":"https://orcid.org/0000-0001-5349-9835"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["DE","FR"],"is_corresponding":false,"raw_author_name":"Serena Ivaldi","raw_affiliation_strings":["CNRS, France","Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"CNRS, France","institution_ids":["https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001763022","display_name":"Marc Peter Deisenroth","orcid":"https://orcid.org/0000-0003-1503-680X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Marc Peter Deisenroth","raw_affiliation_strings":["Department of Computing, Imperial College London, London, UK"],"affiliations":[{"raw_affiliation_string":"Department of Computing, Imperial College London, London, UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037230603","display_name":"Elmar Rueckert","orcid":"https://orcid.org/0000-0003-1221-8253"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Elmar Rueckert","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002235575"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":3.1408657,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":{"value":0.91552895,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9894999861717224,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9894999861717224,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.979200005531311,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9731000065803528,"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/icub","display_name":"iCub","score":0.9635982513427734},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7946828007698059},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.7322065830230713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.656326413154602},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6441603899002075},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5255141258239746},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49422457814216614},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.49241793155670166},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4792625904083252},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.46612927317619324},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.428517609834671},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40591827034950256},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34458601474761963},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2610315680503845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.25632011890411377},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13164815306663513},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11673006415367126}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9635982513427734},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7946828007698059},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7322065830230713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.656326413154602},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6441603899002075},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5255141258239746},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49422457814216614},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.49241793155670166},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4792625904083252},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.46612927317619324},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.428517609834671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40591827034950256},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34458601474761963},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2610315680503845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25632011890411377},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13164815306663513},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11673006415367126},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139638","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139638","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W414567873","https://openalex.org/W1497915382","https://openalex.org/W1746819321","https://openalex.org/W1974305624","https://openalex.org/W1997543377","https://openalex.org/W1999050977","https://openalex.org/W2004116378","https://openalex.org/W2010656727","https://openalex.org/W2018705428","https://openalex.org/W2018855542","https://openalex.org/W2021164316","https://openalex.org/W2029809384","https://openalex.org/W2036866560","https://openalex.org/W2039623973","https://openalex.org/W2055630372","https://openalex.org/W2063016980","https://openalex.org/W2087282753","https://openalex.org/W2113265921","https://openalex.org/W2153635508","https://openalex.org/W2170553811","https://openalex.org/W2172114485","https://openalex.org/W2172140640","https://openalex.org/W2223055204","https://openalex.org/W2231284662","https://openalex.org/W3102703788","https://openalex.org/W4211049957","https://openalex.org/W4233061490","https://openalex.org/W4240172577","https://openalex.org/W4254057022","https://openalex.org/W6614435249","https://openalex.org/W6629804754","https://openalex.org/W6630053902"],"related_works":["https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2963637864"],"abstract_inverted_index":{"In":[0,13],"whole-body":[1],"control,":[2],"joint":[3,110,148],"torques":[4,111,149],"and":[5,23,32,118,161],"external":[6],"forces":[7],"need":[8],"to":[9,78,93,125,156],"be":[10,17,35,48],"estimated":[11],"accurately.":[12],"principle,":[14],"this":[15,69],"can":[16,63],"done":[18],"through":[19],"pervasive":[20],"joint-torque":[21],"sensing":[22],"accurate":[24],"system":[25,88],"identification.":[26,89],"However,":[27],"these":[28],"sensors":[29,62],"are":[30],"expensive":[31],"may":[33,82],"not":[34],"integrated":[36],"in":[37,158],"all":[38],"links.":[39],"Moreover,":[40],"the":[41,45,58,65,87,136,142,147,159],"exact":[42],"position":[43],"of":[44,116,168],"contact":[46,66,152],"must":[47],"known":[49],"for":[50],"a":[51,71,99],"precise":[52],"estimation.":[53],"If":[54],"contacts":[55],"occur":[56],"on":[57,86,130],"whole":[59],"body,":[60],"tactile":[61,117],"estimate":[64],"location,":[67],"but":[68],"requires":[70],"kinematic":[72],"spatial":[73],"calibration,":[74],"which":[75],"is":[76,154],"prone":[77],"errors.":[79],"Accumulating":[80],"errors":[81],"have":[83],"dramatic":[84],"effects":[85],"As":[90],"an":[91,126],"alternative":[92],"classical":[94],"model-based":[95,128],"approaches":[96],"we":[97],"propose":[98],"data-driven":[100],"mixture-of-experts":[101],"learning":[102],"approach":[103,124,129],"using":[104],"Gaussian":[105],"processes.":[106],"This":[107],"model":[108,144],"predicts":[109,146],"directly":[112],"from":[113,135,151],"raw":[114],"data":[115,133],"force/torque":[119],"sensors.":[120],"We":[121,139],"compare":[122],"our":[123],"analytic":[127],"real":[131],"world":[132],"recorded":[134],"humanoid":[137],"iCub.":[138],"show":[140],"that":[141,166],"learned":[143],"accurately":[145],"resulting":[150],"forces,":[153],"robust":[155],"changes":[157],"environment":[160],"outperforms":[162],"existing":[163],"dynamic":[164],"models":[165],"use":[167],"force/":[169],"torque":[170],"sensor":[171],"data.":[172]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}