{"id":"https://openalex.org/W1575312501","doi":"https://doi.org/10.1109/icra.2015.7139694","title":"Incremental kinesthetic teaching of end-effector and null-space motion primitives","display_name":"Incremental kinesthetic teaching of end-effector and null-space motion primitives","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1575312501","doi":"https://doi.org/10.1109/icra.2015.7139694","mag":"1575312501"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139694","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/A5031898170","display_name":"Matteo Saveriano","orcid":"https://orcid.org/0000-0002-9784-3973"},"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":"Matteo Saveriano","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064298734","display_name":"Sang-ik An","orcid":"https://orcid.org/0000-0002-2446-1667"},"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":"Sang-ik An","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"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":"Dongheui Lee","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, 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":12.5531,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.99524928,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3570","last_page":"3575"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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":0.9937999844551086,"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/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.948870062828064},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6512974500656128},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6492316722869873},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6377314925193787},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6218824982643127},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5750175714492798},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5487065315246582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4657251536846161},{"id":"https://openalex.org/keywords/null","display_name":"Null (SQL)","score":0.4482705891132355},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.44186514616012573},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43558335304260254},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4131503999233246},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3834949731826782},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3405177593231201},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30187469720840454},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16072434186935425},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1259360909461975}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.948870062828064},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6512974500656128},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6492316722869873},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6377314925193787},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6218824982643127},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5750175714492798},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5487065315246582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4657251536846161},{"id":"https://openalex.org/C203763787","wikidata":"https://www.wikidata.org/wiki/Q371029","display_name":"Null (SQL)","level":2,"score":0.4482705891132355},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.44186514616012573},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43558335304260254},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4131503999233246},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3834949731826782},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3405177593231201},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30187469720840454},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16072434186935425},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1259360909461975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/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.2015.7139694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139694","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"},{"id":"pmh:oai:iris.unitn.it:11572/330411","is_oa":false,"landing_page_url":"https://hdl.handle.net/11572/330411","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5199999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1528875963","https://openalex.org/W1684361744","https://openalex.org/W1965763148","https://openalex.org/W1979242242","https://openalex.org/W1986152369","https://openalex.org/W1991667713","https://openalex.org/W2031186535","https://openalex.org/W2042803738","https://openalex.org/W2063182199","https://openalex.org/W2104678592","https://openalex.org/W2113260111","https://openalex.org/W2125838338","https://openalex.org/W2128677288","https://openalex.org/W2136719407","https://openalex.org/W2140204284","https://openalex.org/W2154777391","https://openalex.org/W2570764145","https://openalex.org/W2949071206","https://openalex.org/W2997798509","https://openalex.org/W4211008118"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W2921166921","https://openalex.org/W4385174651","https://openalex.org/W3162087156","https://openalex.org/W1597792207","https://openalex.org/W2133182130","https://openalex.org/W2731243571","https://openalex.org/W4223988706"],"abstract_inverted_index":{"In":[0,40],"this":[1,44],"paper,":[2],"we":[3,46],"propose":[4,47],"a":[5,53,60,127,132,149],"unified":[6],"approach":[7,51],"to":[8,24,32,36,42,118,125,137],"teach":[9],"and":[10,15,78,87,107,110,134],"iteratively":[11],"refine":[12],"both":[13],"end-effector":[14,86],"null-space":[16,88],"movements.":[17],"Hence,":[18],"the":[19,64,83,94,115,119,138,143,156,159],"robot":[20],"can":[21],"be":[22],"taught":[23],"make":[25],"use":[26],"of":[27,55,158],"all":[28],"its":[29,34],"degrees-of-freedom":[30],"(DoF)":[31],"adapt":[33],"behavior":[35],"new":[37],"dynamic":[38],"scenarios.":[39],"order":[41],"achieve":[43],"goal":[45],"an":[48],"incremental":[49,80],"learning":[50,71],"in":[52],"framework":[54],"kinesthetic":[56,144],"teaching":[57],"based":[58],"on":[59,148],"multi-priority":[61],"kinematic":[62],"controller,":[63],"so-called":[65],"Task":[66],"Transition":[67],"Control":[68],"(TTC).":[69],"The":[70,102],"algorithm":[72],"is":[73],"responsible":[74],"for":[75],"skill":[76],"acquisition":[77],"their":[79,108],"update.":[81],"On":[82],"real-time":[84],"level,":[85],"motion":[89],"primitives,":[90],"as":[91,93,99],"well":[92],"physical":[95],"guidance":[96],"are":[97,112],"considered":[98],"prioritized":[100],"tasks.":[101],"transitions":[103],"among":[104],"these":[105],"tasks":[106],"insertion":[109],"removal":[111],"managed":[113],"by":[114],"TTC":[116],"according":[117],"specified":[120],"transition":[121],"parameters.":[122],"This":[123],"allows":[124],"introduce":[126],"customized":[128],"task":[129],"which":[130],"guarantees":[131],"proper":[133],"smooth":[135],"response":[136],"applied":[139],"external":[140],"forces":[141],"during":[142],"teaching.":[145],"Experimental":[146],"results":[147],"7":[150],"DoF":[151],"KUKA":[152],"lightweight":[153],"manipulator":[154],"show":[155],"effectiveness":[157],"proposed":[160],"approach.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
