{"id":"https://openalex.org/W2103831616","doi":"https://doi.org/10.1109/iros.2015.7353496","title":"Learning optimal controllers in human-robot cooperative transportation tasks with position and force constraints","display_name":"Learning optimal controllers in human-robot cooperative transportation tasks with position and force constraints","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2103831616","doi":"https://doi.org/10.1109/iros.2015.7353496","mag":"2103831616"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/213072","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063761733","display_name":"Leonel Rozo","orcid":"https://orcid.org/0000-0001-5970-9135"},"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":true,"raw_author_name":"Leonel Rozo","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044420843","display_name":"Danilo Bruno","orcid":null},"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":"Danilo Bruno","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"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/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH","IT"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy","Idiap Research Institute, Martigny, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia (lIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063761733"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":10.5565,"has_fulltext":false,"cited_by_count":90,"citation_normalized_percentile":{"value":0.98409907,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1024","last_page":"1030"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","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/T10653","display_name":"Robot Manipulation and Learning","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/T10809","display_name":"Occupational Health and Safety Research","score":0.9736999869346619,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9192000031471252,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7956730127334595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5622396469116211},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.546453595161438},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5429558157920837},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.535885751247406},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5210413336753845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46026116609573364},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.45043233036994934},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4324420690536499},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4317205846309662},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3573787212371826},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28609248995780945},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26874274015426636},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07492321729660034}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7956730127334595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5622396469116211},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.546453595161438},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5429558157920837},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.535885751247406},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5210413336753845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46026116609573364},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.45043233036994934},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4324420690536499},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4317205846309662},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3573787212371826},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28609248995780945},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26874274015426636},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07492321729660034},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7353496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:213072","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/213072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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:infoscience.epfl.ch:213072","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/213072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1682895868","https://openalex.org/W1979117064","https://openalex.org/W1986014385","https://openalex.org/W1999549166","https://openalex.org/W2012058822","https://openalex.org/W2024538772","https://openalex.org/W2033999619","https://openalex.org/W2050835671","https://openalex.org/W2053324916","https://openalex.org/W2074809255","https://openalex.org/W2098224401","https://openalex.org/W2115166552","https://openalex.org/W2122447324","https://openalex.org/W2128221272","https://openalex.org/W2157719307","https://openalex.org/W2169187067","https://openalex.org/W2188585002","https://openalex.org/W4254475186","https://openalex.org/W6637373105","https://openalex.org/W6653300647","https://openalex.org/W6679317373"],"related_works":["https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W2171912896","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W1500588313","https://openalex.org/W2542723153","https://openalex.org/W3105789002","https://openalex.org/W2021541810","https://openalex.org/W2133150803"],"abstract_inverted_index":{"Human-robot":[0],"collaboration":[1],"seeks":[2],"to":[3,45,66,127,159,164],"have":[4],"humans":[5],"and":[6,21,33,57,101,114],"robots":[7],"closely":[8],"interacting":[9],"in":[10,111,149],"everyday":[11],"situations.":[12],"For":[13],"some":[14],"tasks,":[15],"physical":[16],"contact":[17],"between":[18],"the":[19,22,53,95,99,109,119,125,137],"user":[20],"robot":[23,42,55,69,126],"may":[24],"occur,":[25],"originating":[26],"significant":[27],"challenges":[28],"at":[29],"safety,":[30],"cognition,":[31],"perception":[32],"control":[34,60,105],"levels,":[35],"among":[36],"others.":[37],"This":[38],"paper":[39],"focuses":[40],"on":[41],"motion":[43],"adaptation":[44],"parameters":[46,135],"of":[47,52,82,98,134,136],"a":[48,68,79,83,132,150,153,162],"collaborative":[49],"task,":[50,138],"extraction":[51],"desired":[54,96],"behavior,":[56],"variable":[58],"impedance":[59,142],"for":[61,92],"human-safe":[62],"interaction.":[63],"We":[64],"propose":[65],"teach":[67],"cooperative":[70],"behaviors":[71],"from":[72],"demonstrations,":[73],"which":[74],"are":[75],"probabilistically":[76],"encoded":[77],"by":[78],"task-parametrized":[80],"formulation":[81],"Gaussian":[84],"mixture":[85],"model.":[86],"Such":[87],"encoding":[88],"is":[89],"later":[90],"used":[91],"specifying":[93],"both":[94],"state":[97],"robot,":[100],"an":[102,166],"optimal":[103],"feedback":[104],"law":[106],"that":[107],"exploits":[108],"variability":[110],"position,":[112],"velocity":[113],"force":[115],"spaces":[116],"observed":[117],"during":[118],"demonstrations.":[120],"The":[121],"whole":[122],"framework":[123],"allows":[124],"modify":[128],"its":[129],"movements":[130],"as":[131],"function":[133],"while":[139],"showing":[140],"different":[141],"behaviors.":[143],"Tests":[144],"were":[145],"successfully":[146],"carried":[147],"out":[148],"scenario":[151],"where":[152],"7":[154],"DOF":[155],"backdrivable":[156],"manipulator":[157],"learns":[158],"cooperate":[160],"with":[161],"human":[163],"transport":[165],"object.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}