{"id":"https://openalex.org/W2810905956","doi":"https://doi.org/10.1109/iros.2018.8594366","title":"From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems","display_name":"From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2810905956","doi":"https://doi.org/10.1109/iros.2018.8594366","mag":"2810905956"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/255810","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031975068","display_name":"Mahdi Khoramshahi","orcid":"https://orcid.org/0000-0001-9470-2561"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahdi Khoramshahi","raw_affiliation_strings":["EPFL, Learning Algorithm and Systems Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL, Learning Algorithm and Systems Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047530171","display_name":"Antoine Laurens","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antoine Laurens","raw_affiliation_strings":["EPFL, Learning Algorithm and Systems Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL, Learning Algorithm and Systems Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080424230","display_name":"Thomas Triquet","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas Triquet","raw_affiliation_strings":["EPFL, Learning Algorithm and Systems Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL, Learning Algorithm and Systems Laboratory","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["EPFL, Learning Algorithm and Systems Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL, Learning Algorithm and Systems Laboratory","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.372,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.92830032,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983000159263611,"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/trajectory","display_name":"Trajectory","score":0.7756937742233276},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6522046327590942},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.6305209398269653},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6041259169578552},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.5909855365753174},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5452876091003418},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5280947089195251},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.47415891289711},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4606260359287262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45711803436279297},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.44007208943367004},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3453756272792816},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33380430936813354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3114737272262573},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.154234379529953},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1500689685344696},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14984962344169617},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12635955214500427},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09565740823745728}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7756937742233276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6522046327590942},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.6305209398269653},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6041259169578552},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.5909855365753174},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5452876091003418},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5280947089195251},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.47415891289711},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4606260359287262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45711803436279297},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.44007208943367004},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3453756272792816},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33380430936813354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3114737272262573},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.154234379529953},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1500689685344696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14984962344169617},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12635955214500427},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09565740823745728},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2018.8594366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594366","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:255810","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/255810","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},{"id":"pmh:oai:infoscience.epfl.ch:266434","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/266434","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/266434","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:255810","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/255810","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W779291494","https://openalex.org/W1541925238","https://openalex.org/W1979780394","https://openalex.org/W1980768270","https://openalex.org/W1987710890","https://openalex.org/W2017239762","https://openalex.org/W2045080324","https://openalex.org/W2063182199","https://openalex.org/W2065305089","https://openalex.org/W2069519488","https://openalex.org/W2085583171","https://openalex.org/W2106979486","https://openalex.org/W2129202194","https://openalex.org/W2147653242","https://openalex.org/W2214212631","https://openalex.org/W2244449411","https://openalex.org/W2298819890","https://openalex.org/W2345260576","https://openalex.org/W2569188472","https://openalex.org/W2570503960","https://openalex.org/W2584548138","https://openalex.org/W2592413607","https://openalex.org/W2596087839","https://openalex.org/W2750092202","https://openalex.org/W2766203889","https://openalex.org/W2767056494","https://openalex.org/W2775751232","https://openalex.org/W2799280697","https://openalex.org/W2964068416","https://openalex.org/W4240191599","https://openalex.org/W6661704981","https://openalex.org/W6745287095","https://openalex.org/W6747136208","https://openalex.org/W6750420112"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W154868527","https://openalex.org/W1494268238","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W1976468483","https://openalex.org/W2480116122","https://openalex.org/W2563912921","https://openalex.org/W2407611282","https://openalex.org/W4255576661"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,49,94],"present":[4],"an":[5],"adaptive":[6],"motion":[7,32,42],"planning":[8],"approach":[9,97],"for":[10,31,41],"impedance-controlled":[11],"robots":[12],"to":[13,46,59],"modify":[14],"their":[15],"tasks":[16,110],"based":[17],"on":[18],"human":[19,47,81],"physical":[20],"interactions.":[21],"We":[22,83],"use":[23],"a":[24,103],"class":[25],"of":[26,37,53,90],"parameterized":[27],"time-independent":[28],"dynamical":[29,55,72],"systems":[30],"generation":[33],"where":[34],"the":[35,51,61,66,71,75,80],"modulation":[36],"such":[38,111],"parameters":[39,52],"allows":[40],"flexibility.":[43],"To":[44],"adapt":[45],"interactions,":[48],"update":[50],"our":[54,91,96],"system":[56,73],"in":[57],"order":[58],"reduce":[60],"tracking":[62],"error":[63],"(i.e.,":[64],"between":[65],"desired":[67],"trajectory":[68,77],"generated":[69],"by":[70,79],"and":[74,87,114],"real":[76,99],"influenced":[78],"interaction).":[82],"provide":[84],"analytical":[85],"analysis":[86],"several":[88],"simulations":[89],"method.":[92],"Finally,":[93],"investigate":[95],"through":[98],"world":[100],"experiments":[101],"with":[102],"7-DOF":[104],"KUKA":[105],"LWR":[106],"4+":[107],"robot":[108],"performing":[109],"as":[112],"polishing":[113],"pick-and-place.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2018-07-10T00:00:00"}
