{"id":"https://openalex.org/W2074274296","doi":"https://doi.org/10.1109/iros.2013.6697173","title":"Dynamic optimality in real-time: A learning framework for near-optimal robot motions","display_name":"Dynamic optimality in real-time: A learning framework for near-optimal robot motions","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2074274296","doi":"https://doi.org/10.1109/iros.2013.6697173","mag":"2074274296"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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://mediatum.ub.tum.de/node?id=1438583","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025418674","display_name":"Roman Weitschat","orcid":"https://orcid.org/0000-0002-3871-5306"},"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":true,"raw_author_name":"Roman Weitschat","raw_affiliation_strings":["Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany","Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"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":"Sami Haddadin","raw_affiliation_strings":["Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany","Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052589954","display_name":"Felix Huber","orcid":"https://orcid.org/0000-0002-3856-4018"},"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":"Felix Huber","raw_affiliation_strings":["Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany","Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Center, DLR - German Aerospace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"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":"Alin Albu-Schauffer","raw_affiliation_strings":["Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Robot. & Mechatron. Center, DLR - German Aerosp. Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025418674"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":2.5248,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.90105465,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"34","issue":null,"first_page":"5636","last_page":"5643"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987999796867371,"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":0.9986000061035156,"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/optimal-control","display_name":"Optimal control","score":0.7519732713699341},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6579525470733643},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6212241053581238},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6006617546081543},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.566321611404419},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.49712875485420227},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4617931842803955},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.4129365384578705},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.398235946893692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3465985357761383},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20865458250045776},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17487779259681702}],"concepts":[{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.7519732713699341},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6579525470733643},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6212241053581238},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6006617546081543},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.566321611404419},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.49712875485420227},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4617931842803955},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.4129365384578705},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.398235946893692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3465985357761383},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20865458250045776},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17487779259681702},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2013.6697173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:85515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697173>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1438583","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438583","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:zenodo.org:3432728","is_oa":true,"landing_page_url":"https://zenodo.org/record/3432728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1438583","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438583","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7599999904632568,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W59441132","https://openalex.org/W1495441213","https://openalex.org/W1555601014","https://openalex.org/W1684361744","https://openalex.org/W1763528081","https://openalex.org/W1906034729","https://openalex.org/W1970412155","https://openalex.org/W1983639748","https://openalex.org/W1986090102","https://openalex.org/W1994680409","https://openalex.org/W2000359213","https://openalex.org/W2007850612","https://openalex.org/W2011907571","https://openalex.org/W2021822032","https://openalex.org/W2066202893","https://openalex.org/W2069324174","https://openalex.org/W2086332056","https://openalex.org/W2095905067","https://openalex.org/W2105289524","https://openalex.org/W2110194613","https://openalex.org/W2111978237","https://openalex.org/W2115091574","https://openalex.org/W2115817551","https://openalex.org/W2128990851","https://openalex.org/W2130405068","https://openalex.org/W2131326336","https://openalex.org/W2139086916","https://openalex.org/W2141853154","https://openalex.org/W2149192758","https://openalex.org/W2161395589","https://openalex.org/W2167848112","https://openalex.org/W2167856595","https://openalex.org/W2225813005","https://openalex.org/W4211008118","https://openalex.org/W4245930465","https://openalex.org/W6649237359","https://openalex.org/W6682150299"],"related_works":["https://openalex.org/W2075445622","https://openalex.org/W4285537323","https://openalex.org/W1932159282","https://openalex.org/W2379312070","https://openalex.org/W2136173754","https://openalex.org/W2332086753","https://openalex.org/W2110050003","https://openalex.org/W2953025626","https://openalex.org/W2499081552","https://openalex.org/W2366053282"],"abstract_inverted_index":{"Elastic":[0],"robots":[1],"have":[2],"a":[3,49,72,92,101,129,142,151,168],"distinct":[4],"feature":[5],"that":[6,106],"makes":[7],"them":[8],"especially":[9],"interesting":[10],"to":[11,16,114,161,167,180],"optimal":[12,28,44,96,120,139,171,187],"control:":[13],"their":[14],"ability":[15],"mechanically":[17],"store":[18],"and":[19,153,189,196],"release":[20],"potential":[21],"energy.":[22],"However,":[23],"solving":[24],"any":[25],"kind":[26],"of":[27,94,104,125,186],"control":[29,97,121,172,188],"problem":[30,86,122,173],"for":[31,52,74,78,123],"such":[32],"highly":[33],"nonlinear":[34],"dynamics":[35],"is":[36,112],"feasible":[37],"only":[38,47],"numerically,":[39],"i.e.":[40],"offline.":[41],"In":[42,67,176],"turn,":[43],"solutions":[45],"would":[46,62],"contribute":[48],"clear":[50],"benefit":[51],"dynamic":[53],"environments/tasks":[54],"(apart":[55],"from":[56,163],"rather":[57],"general":[58],"insights),":[59],"if":[60],"they":[61],"be":[63],"accessible/generalizable":[64],"in":[65,81,128,141,174],"real-time.":[66,82,175],"this":[68],"paper,":[69],"we":[70,90,117,135,178],"propose":[71],"framework":[73],"executing":[75],"near-optimal":[76],"motions":[77,105],"elastic":[79,109],"arms":[80],"We":[83],"approach":[84],"the":[85,119,137,159,164,182],"as":[87],"follows.":[88],"First,":[89],"define":[91],"set":[93,103],"prototypical":[95],"problems.":[98],"These":[99],"represent":[100],"reasonable":[102],"an":[107],"intrinsically":[108],"robot":[110],"arm":[111],"sought":[113],"execute.":[115],"Exemplary,":[116],"solve":[118],"some":[124],"these":[126],"prototypes":[127],"roughly":[130],"covered":[131],"task":[132],"space.":[133],"Then,":[134],"encode":[136],"resulting":[138],"trajectories":[140],"dynamical":[143],"system":[144],"via":[145],"Dynamic":[146],"Movement":[147],"Primitives":[148],"(DMPs).":[149],"Finally,":[150],"distance":[152],"cost":[154],"function":[155],"based":[156],"metric":[157],"forms":[158],"basis":[160],"generalize":[162],"learned":[165],"parameterizations":[166],"new":[169],"unsolved":[170],"short,":[177],"intend":[179],"overcome":[181],"well":[183],"known":[184],"problems":[185],"learning":[190],"with":[191],"associated":[192],"generalization:":[193],"being":[194,197],"offline":[195],"suboptimal,":[198],"respectively.":[199]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}