{"id":"https://openalex.org/W2100376108","doi":"https://doi.org/10.1109/iros.2007.4399467","title":"Autonomous learning of 3D reaching in a humanoid robot","display_name":"Autonomous learning of 3D reaching in a humanoid robot","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2100376108","doi":"https://doi.org/10.1109/iros.2007.4399467","mag":"2100376108"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5063532849","display_name":"Francesco Nori","orcid":"https://orcid.org/0000-0003-3763-6873"},"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":"Francesco Nori","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"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":"Lorenzo Natale","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002153617","display_name":"Giulio Sandini","orcid":"https://orcid.org/0000-0003-3324-985X"},"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":"Giulio Sandini","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"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/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["University of Genoa, Italian Institute of Technology, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Genoa, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326","https://openalex.org/I83816512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9908,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.90182648,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1142","last_page":"1147"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9897000193595886,"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":0.9897000193595886,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9846000075340271,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9797000288963318,"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/humanoid-robot","display_name":"Humanoid robot","score":0.754338264465332},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6662896275520325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6357351541519165},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6056949496269226},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5791970491409302},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.567547619342804},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5021812915802002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49488967657089233},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4877856373786926},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.48167169094085693},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.47832727432250977},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4174150228500366},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2236039936542511},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11128860712051392}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.754338264465332},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6662896275520325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6357351541519165},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6056949496269226},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5791970491409302},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.567547619342804},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5021812915802002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49488967657089233},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4877856373786926},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.48167169094085693},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.47832727432250977},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4174150228500366},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2236039936542511},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11128860712051392},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/iros.2007.4399467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.565.1607","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.565.1607","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotcub.org/misc/paperchl/dev4.pdf","raw_type":"text"},{"id":"pmh:oai:iris.unige.it:11567/239825","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/239825","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W136114644","https://openalex.org/W1495976112","https://openalex.org/W1524019357","https://openalex.org/W1559749952","https://openalex.org/W1851410152","https://openalex.org/W2058408366","https://openalex.org/W2058447477","https://openalex.org/W2059602541","https://openalex.org/W2100998525","https://openalex.org/W2101227360","https://openalex.org/W2107252953","https://openalex.org/W2134970101","https://openalex.org/W2139442815","https://openalex.org/W2142456378","https://openalex.org/W2163910628","https://openalex.org/W2167501464","https://openalex.org/W2167804690","https://openalex.org/W2170120409","https://openalex.org/W4206820429","https://openalex.org/W4285719527","https://openalex.org/W6605655274","https://openalex.org/W6665560887","https://openalex.org/W6676060300"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2291700020","https://openalex.org/W4386128912"],"abstract_inverted_index":{"In":[0,68],"this":[1,69],"paper,":[2],"we":[3,19,71],"describe":[4],"the":[5,28,33,36,42,46,52,65,73,78,89,92,97,106,110,114,117],"implementation":[6],"of":[7,27,31,91,109,116],"a":[8,60,84],"precise":[9],"reaching":[10],"controller":[11],"on":[12,24],"an":[13],"upper-torso":[14],"humanoid":[15],"robot.":[16],"The":[17],"solution":[18],"propose":[20],"does":[21],"not":[22],"rely":[23],"prior":[25],"models":[26],"kinematic":[29,107],"structure":[30,111],"either":[32],"arm":[34],"or":[35],"head.":[37],"A":[38],"learning":[39,51],"strategy":[40,102],"enables":[41],"robot":[43,53],"to":[44,56,87,95],"acquire":[45],"required":[47],"sensory-motor":[48],"transformations.":[49],"After":[50],"is":[54],"able":[55],"precisely":[57],"reach":[58],"for":[59],"visually":[61],"identified":[62],"object":[63,93],"in":[64,77],"3-dimensional":[66],"space.":[67],"technique":[70],"use":[72],"fixation":[74],"point":[75],"(represented":[76],"head":[79],"joints":[80],"motor":[81],"space)":[82],"as":[83],"reference":[85],"frame":[86],"code":[88],"position":[90],"and":[94,112],"represent":[96],"eye-to-hand":[98],"Jacobian":[99],"matrix.":[100],"This":[101],"successfully":[103],"deals":[104],"with":[105],"redundancy":[108],"constraints":[113],"dimensionality":[115],"problem.":[118]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}