{"id":"https://openalex.org/W2045080324","doi":"https://doi.org/10.1109/iros.2010.5650519","title":"Incremental motion primitive learning by physical coaching using impedance control","display_name":"Incremental motion primitive learning by physical coaching using impedance control","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2045080324","doi":"https://doi.org/10.1109/iros.2010.5650519","mag":"2045080324"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","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/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":true,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Technical University Munich, Munich, Germany","Department of Electrical Engineering and Information Technology, Technical University of Munich, D-80290, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technical University Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Technical University of Munich, D-80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany","Institute of Robotics and Mechatronics, German Aerospace Center (DLR e.V.), P.O. Box 1116, 82234 Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR e.V.), P.O. Box 1116, 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5088081800"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":13.0067,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.98573008,"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":"4133","last_page":"4140"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9962000250816345,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7456938028335571},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6765356063842773},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.660718560218811},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6460978984832764},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.5981709957122803},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5439396500587463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4825655519962311},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.4620821475982666},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4586086869239807},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4215095043182373},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4129991829395294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34228765964508057},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17264974117279053},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11908552050590515}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7456938028335571},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6765356063842773},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.660718560218811},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6460978984832764},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.5981709957122803},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5439396500587463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4825655519962311},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.4620821475982666},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4586086869239807},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4215095043182373},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4129991829395294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34228765964508057},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17264974117279053},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11908552050590515},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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":1,"locations":[{"id":"doi:10.1109/iros.2010.5650519","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650519","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1486632395","https://openalex.org/W1967097499","https://openalex.org/W1967377907","https://openalex.org/W1982486572","https://openalex.org/W1995090200","https://openalex.org/W1997401004","https://openalex.org/W2021822032","https://openalex.org/W2031186535","https://openalex.org/W2052526384","https://openalex.org/W2059593658","https://openalex.org/W2083871567","https://openalex.org/W2084828843","https://openalex.org/W2096185712","https://openalex.org/W2098516422","https://openalex.org/W2101318683","https://openalex.org/W2103254706","https://openalex.org/W2109026728","https://openalex.org/W2110304639","https://openalex.org/W2113265921","https://openalex.org/W2113698995","https://openalex.org/W2114942020","https://openalex.org/W2116156665","https://openalex.org/W2125838338","https://openalex.org/W2128677288","https://openalex.org/W2131666656","https://openalex.org/W2143406978","https://openalex.org/W2152512906","https://openalex.org/W2162488100","https://openalex.org/W2332612100","https://openalex.org/W2570764145","https://openalex.org/W2949071206"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W230475630","https://openalex.org/W2619506118","https://openalex.org/W2100208908","https://openalex.org/W2128997828","https://openalex.org/W1532965292","https://openalex.org/W2172274897","https://openalex.org/W1568936204","https://openalex.org/W1500387900"],"abstract_inverted_index":{"We":[0],"present":[1],"an":[2,38],"approach":[3],"for":[4,10,19,50,72,104],"kinesthetic":[5,81],"teaching":[6,16,82],"of":[7,40,53,62],"motion":[8,23,32,63,106],"primitives":[9,64],"a":[11,26,34,56,86],"humanoid":[12,117],"robot.":[13],"The":[14,108],"proposed":[15,109],"method":[17,49],"allows":[18,99],"iterative":[20,31],"execution":[21],"and":[22,98,113],"refinement":[24,42],"using":[25,115],"forgetting":[27],"factor.":[28],"During":[29],"the":[30,44,76,80,105],"refinement,":[33],"confidence":[35],"value":[36],"specifies":[37],"area":[39],"allowed":[41],"around":[43],"nominal":[45],"trajectory.":[46],"A":[47],"novel":[48],"continuous":[51],"generation":[52],"motions":[54],"from":[55],"hidden":[57],"Markov":[58],"model":[59],"(HMM)":[60],"representation":[61],"is":[65,83],"proposed,":[66],"which":[67,90],"incorporates":[68],"relative":[69],"time":[70],"information":[71],"each":[73],"state.":[74],"On":[75],"real-time":[77],"control":[78],"level,":[79],"handled":[84],"by":[85],"customized":[87],"impedance":[88],"controller,":[89],"combines":[91],"tracking":[92],"performance":[93],"with":[94],"soft":[95,102],"physical":[96],"interaction":[97],"to":[100],"implement":[101],"boundaries":[103],"refinement.":[107],"methods":[110],"were":[111],"implemented":[112],"tested":[114],"DLR's":[116],"upper-body":[118],"robot":[119],"Justin.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}