{"id":"https://openalex.org/W2005570044","doi":"https://doi.org/10.1109/iros.2014.6943182","title":"Model-free path planning for redundant robots using sparse data from kinesthetic teaching","display_name":"Model-free path planning for redundant robots using sparse data from kinesthetic teaching","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2005570044","doi":"https://doi.org/10.1109/iros.2014.6943182","mag":"2005570044"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5073936754","display_name":"Daniel Seidel","orcid":"https://orcid.org/0000-0002-2240-3850"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Seidel","raw_affiliation_strings":["Faculty of Technolgoy, Bielefeld University","Institute for Robotics and Cognition (CoR-Lab), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technolgoy, Bielefeld University","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Institute for Robotics and Cognition (CoR-Lab), Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031907273","display_name":"Christian Emmerich","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Emmerich","raw_affiliation_strings":["Faculty of Technolgoy, Bielefeld University","Institute for Robotics and Cognition (CoR-Lab), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technolgoy, Bielefeld University","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Institute for Robotics and Cognition (CoR-Lab), Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085055595","display_name":"Jochen J. Steil","orcid":"https://orcid.org/0000-0002-6738-9933"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen J. Steil","raw_affiliation_strings":["Faculty of Technolgoy, Bielefeld University","Institute for Robotics and Cognition (CoR-Lab), Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technolgoy, Bielefeld University","institution_ids":["https://openalex.org/I20121455"]},{"raw_affiliation_string":"Institute for Robotics and Cognition (CoR-Lab), Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4104,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67854531,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"4381","last_page":"4388"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"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/computer-science","display_name":"Computer science","score":0.7362496852874756},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7226606607437134},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.6982969045639038},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.646327018737793},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.61391282081604},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5122751593589783},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4141744077205658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41122862696647644},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32846277952194214},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.27064603567123413},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09711894392967224}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7362496852874756},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7226606607437134},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.6982969045639038},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.646327018737793},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.61391282081604},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5122751593589783},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4141744077205658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41122862696647644},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32846277952194214},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.27064603567123413},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09711894392967224},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2014.6943182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:pub.librecat.org:2685048","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2685048","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Seidel D, Emmerich C, Steil JJ. Model-free Path Planning for Redundant Robots using Sparse Data from Kinesthetic Teaching. In:  &lt;em&gt;Proc. of the Int. Conference on Intelligent Robots and Systems (IROS)&lt;/em&gt;. 2014: 4381-4388.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W135568524","https://openalex.org/W143844323","https://openalex.org/W191390991","https://openalex.org/W1550117459","https://openalex.org/W1965418321","https://openalex.org/W1969483458","https://openalex.org/W1974581510","https://openalex.org/W1979242242","https://openalex.org/W2007443511","https://openalex.org/W2010690223","https://openalex.org/W2012204020","https://openalex.org/W2021867305","https://openalex.org/W2024175497","https://openalex.org/W2057845264","https://openalex.org/W2063182199","https://openalex.org/W2066202893","https://openalex.org/W2075586348","https://openalex.org/W2099915711","https://openalex.org/W2100675387","https://openalex.org/W2104678592","https://openalex.org/W2125079768","https://openalex.org/W2138754805","https://openalex.org/W2139761653","https://openalex.org/W2169528473","https://openalex.org/W2515082088","https://openalex.org/W2985093159","https://openalex.org/W6607890380","https://openalex.org/W6665091662","https://openalex.org/W6675251542","https://openalex.org/W6675410042","https://openalex.org/W6678642114","https://openalex.org/W6680294583","https://openalex.org/W6726071506"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W4392899229","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"The":[0,50],"paper":[1],"addresses":[2],"path":[3],"planning":[4,83],"for":[5,122],"a":[6,48,56,87],"redundant":[7],"robot":[8,98,121],"arm":[9],"that":[10],"is":[11,30,34,53],"maneuvering":[12],"in":[13,84,102],"confined":[14],"spaces,":[15],"where":[16,125],"neither":[17],"an":[18,70],"explicit":[19,133],"model":[20],"nor":[21],"external":[22],"perception":[23],"of":[24,43,59,69,80,90,105,119],"the":[25,60,91,97,103,106,120],"possibly":[26],"frequently":[27],"changing":[28],"environment":[29],"available.":[31],"Our":[32],"approach":[33,113],"rather":[35],"solely":[36],"based":[37],"on":[38],"data":[39],"from":[40],"kinesthetic":[41],"demonstrations":[42],"feasible":[44],"configurations":[45],"provided":[46],"by":[47,67],"user.":[49],"key":[51],"challenge":[52],"to":[54,99,129],"create":[55],"graph-based":[57,82],"representation":[58],"demonstrated":[61,92,107],"free":[62],"space":[63,109],"incrementally":[64],"and":[65,117],"online":[66],"means":[68],"specifically":[71],"tailored":[72],"instantaneous":[73],"topological":[74],"map":[75],"at":[76],"runtime.":[77],"Subsequent":[78],"application":[79],"standard":[81],"combination":[85],"with":[86],"learned":[88],"generalization":[89],"redundancy":[93],"resolution":[94],"then":[95],"enables":[96],"safely":[100],"move":[101],"realm":[104],"task":[108],"areas.":[110],"This":[111],"model-free":[112],"greatly":[114],"enhances":[115],"configurability":[116],"flexibility":[118],"assistance":[123],"applications,":[124],"movement":[126],"capabilities":[127],"need":[128],"be":[130],"realized":[131],"without":[132],"programming.":[134]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
