{"id":"https://openalex.org/W2149936889","doi":"https://doi.org/10.1109/iros.2011.6094951","title":"Imitation learning of human grasping skills from motion and force data","display_name":"Imitation learning of human grasping skills from motion and force data","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2149936889","doi":"https://doi.org/10.1109/iros.2011.6094951","mag":"2149936889"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094951","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://eprints.uwe.ac.uk/23893/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083338552","display_name":"Alexander M. Schmidts","orcid":null},"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":"Alexander M. Schmidts","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","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":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083668298","display_name":"Angelika Peer","orcid":"https://orcid.org/0000-0002-2896-9011"},"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":"Angelika Peer","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Munchen, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083338552"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":6.2135,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.96109779,"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":"1002","last_page":"1007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9940999746322632,"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":0.9902999997138977,"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/grasp","display_name":"GRASP","score":0.7957748174667358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6640715599060059},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6448440551757812},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.6382424831390381},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6324331760406494},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6042240262031555},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5803459882736206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5615372061729431},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5595995783805847},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5549924373626709},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5427622199058533},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5184585452079773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49445199966430664},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4741836488246918},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46317699551582336},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4157332181930542},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10417449474334717}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7957748174667358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6640715599060059},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6448440551757812},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.6382424831390381},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6324331760406494},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6042240262031555},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5803459882736206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5615372061729431},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5595995783805847},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5549924373626709},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5427622199058533},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5184585452079773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49445199966430664},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4741836488246918},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46317699551582336},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4157332181930542},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10417449474334717},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2011.6094951","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094951","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:alma.39UBZ_INST:11288578160001241","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/6094951","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:eprints.uwe.ac.uk:23893","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/23893/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1118268","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1118268","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},{"id":"pmh:oai:unibz.it:11288578160001241","is_oa":false,"landing_page_url":"https://bia.unibz.it/esploro/outputs/conferenceProceeding/Imitation-Learning-of-Human-Grasping-Skills/991006461496501241","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:eprints.uwe.ac.uk:23893","is_oa":true,"landing_page_url":"http://eprints.uwe.ac.uk/23893/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401464","display_name":"UWE Research Repository (UWE Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I178535277","host_organization_name":"University of the West of England","host_organization_lineage":["https://openalex.org/I178535277"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1578276042","https://openalex.org/W1780555481","https://openalex.org/W1992051612","https://openalex.org/W2016876803","https://openalex.org/W2031580264","https://openalex.org/W2045080324","https://openalex.org/W2049633694","https://openalex.org/W2095431270","https://openalex.org/W2110208234","https://openalex.org/W2112420768","https://openalex.org/W2115394969","https://openalex.org/W2123365775","https://openalex.org/W2125838338","https://openalex.org/W2128160875","https://openalex.org/W2134146570","https://openalex.org/W2141222604","https://openalex.org/W2153667689","https://openalex.org/W2159927810","https://openalex.org/W2168530549","https://openalex.org/W2570764145","https://openalex.org/W2949071206","https://openalex.org/W3129711340","https://openalex.org/W4241430235","https://openalex.org/W6634518374","https://openalex.org/W6638109603","https://openalex.org/W6661704981"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W4315881361","https://openalex.org/W4318953217","https://openalex.org/W2997729061","https://openalex.org/W2541098390","https://openalex.org/W2790754119","https://openalex.org/W2166112783","https://openalex.org/W4307472399","https://openalex.org/W4378364998","https://openalex.org/W2141098361"],"abstract_inverted_index":{"Imitation":[0],"learning,":[1],"also":[2],"known":[3],"as":[4],"Programming":[5],"by":[6],"Demonstration,":[7],"allows":[8,62],"a":[9,17,56,63,67,76],"non-expert":[10],"user":[11],"to":[12,16,34,65,72,84,103,109,120,149],"teach":[13],"complex":[14],"skills":[15,47,138,151],"robot.":[18],"While":[19,95],"so":[20],"far":[21],"researchers":[22],"focused":[23],"on":[24,140],"abstracting":[25],"kinematic":[26,154],"relations,":[27],"only":[28],"little":[29],"attention":[30],"has":[31],"been":[32],"paid":[33],"force":[35,51,146],"information.":[36],"In":[37],"this":[38,54],"work":[39],"we":[40,112],"study":[41],"imitation":[42],"learning":[43,96,115],"of":[44,97,116,123,136,143],"human":[45,64],"grasping":[46,126,137,150],"from":[48],"motion":[49,144],"and":[50,71,145],"data.":[52],"For":[53],"purpose":[55],"teleoperation":[57],"system":[58],"is":[59,101],"realized":[60],"that":[61,88,114,152],"control":[66],"simulated":[68],"robotic":[69],"hand":[70],"grasp":[73],"objects":[74],"in":[75,105],"virtual":[77,93],"environment.":[78],"Haptic":[79],"rendering":[80],"algorithms":[81],"are":[82],"implemented":[83],"calculate":[85],"interaction":[86,99],"forces":[87,100],"occur":[89],"when":[90],"touching":[91],"the":[92,110,124,141],"object.":[94],"fingertip":[98],"shown":[102],"result":[104],"physical":[106],"inconsistency":[107],"compared":[108,148],"demonstrations,":[111],"show":[113],"internal":[117],"tensions":[118],"leads":[119],"stable":[121],"reproductions":[122],"demonstrated":[125],"skill.":[127],"Obtained":[128],"results":[129],"further":[130],"indicate":[131],"an":[132],"enlarged":[133],"generalisation":[134],"capability":[135],"learnt":[139],"basis":[142],"data":[147],"encode":[153],"relations":[155],"only.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}