{"id":"https://openalex.org/W2968730564","doi":"https://doi.org/10.1109/iros40897.2019.8967845","title":"Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction Primitives","display_name":"Learning Interactive Behaviors for Musculoskeletal Robots Using Bayesian Interaction Primitives","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2968730564","doi":"https://doi.org/10.1109/iros40897.2019.8967845","mag":"2968730564"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.05552","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020863180","display_name":"Joseph Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]},{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joseph Campbell","raw_affiliation_strings":["Arizona State University,school of Computing, Informatics, and Decision Systems Engineering","Arizona State University, School of Computing, Informatics, and Decision Systems Engineering;"],"affiliations":[{"raw_affiliation_string":"Arizona State University,school of Computing, Informatics, and Decision Systems Engineering","institution_ids":["https://openalex.org/I4210143601"]},{"raw_affiliation_string":"Arizona State University, School of Computing, Informatics, and Decision Systems Engineering;","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031647896","display_name":"Arne Hitzmann","orcid":"https://orcid.org/0000-0002-7125-9760"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Arne Hitzmann","raw_affiliation_strings":["Osaka University,Graduate School of Engineering Science","Osaka University - Graduate School of Engineering Science"],"affiliations":[{"raw_affiliation_string":"Osaka University,Graduate School of Engineering Science","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Osaka University - Graduate School of Engineering Science","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048668442","display_name":"Simon Stepputtis","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Simon Stepputtis","raw_affiliation_strings":["Arizona State University,school of Computing, Informatics, and Decision Systems Engineering","Arizona State University, School of Computing, Informatics, and Decision Systems Engineering;"],"affiliations":[{"raw_affiliation_string":"Arizona State University,school of Computing, Informatics, and Decision Systems Engineering","institution_ids":["https://openalex.org/I4210143601"]},{"raw_affiliation_string":"Arizona State University, School of Computing, Informatics, and Decision Systems Engineering;","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091642144","display_name":"Shuhei Ikemoto","orcid":"https://orcid.org/0000-0003-4885-8746"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuhei Ikemoto","raw_affiliation_strings":["Kyushu Institute of Technology,Graduate School of Life Science and Systems Engineering"],"affiliations":[{"raw_affiliation_string":"Kyushu Institute of Technology,Graduate School of Life Science and Systems Engineering","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072232488","display_name":"Koh Hosoda","orcid":"https://orcid.org/0000-0001-8392-1021"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koh Hosoda","raw_affiliation_strings":["Osaka University,Graduate School of Engineering Science","Osaka University - Graduate School of Engineering Science"],"affiliations":[{"raw_affiliation_string":"Osaka University,Graduate School of Engineering Science","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Osaka University - Graduate School of Engineering Science","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024068845","display_name":"Heni Ben Amor","orcid":"https://orcid.org/0000-0002-9896-8217"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heni Ben Amor","raw_affiliation_strings":["Arizona State University,school of Computing, Informatics, and Decision Systems Engineering","Arizona State University, School of Computing, Informatics, and Decision Systems Engineering;"],"affiliations":[{"raw_affiliation_string":"Arizona State University,school of Computing, Informatics, and Decision Systems Engineering","institution_ids":["https://openalex.org/I4210143601"]},{"raw_affiliation_string":"Arizona State University, School of Computing, Informatics, and Decision Systems Engineering;","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5020863180"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":0.1685,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48154412,"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":"5071","last_page":"5078"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9890000224113464,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.98580002784729,"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/robot","display_name":"Robot","score":0.7704603672027588},{"id":"https://openalex.org/keywords/handshake","display_name":"Handshake","score":0.7489780187606812},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.6540480256080627},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6296951770782471},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5780109167098999},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5720311403274536},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5698970556259155},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5203416347503662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5120940208435059},{"id":"https://openalex.org/keywords/interaction-model","display_name":"Interaction model","score":0.4652721583843231},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.43400442600250244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1777152121067047}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7704603672027588},{"id":"https://openalex.org/C2778000800","wikidata":"https://www.wikidata.org/wiki/Q830043","display_name":"Handshake","level":3,"score":0.7489780187606812},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6540480256080627},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6296951770782471},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5780109167098999},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5720311403274536},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5698970556259155},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5203416347503662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5120940208435059},{"id":"https://openalex.org/C2780806968","wikidata":"https://www.wikidata.org/wiki/Q6045196","display_name":"Interaction model","level":2,"score":0.4652721583843231},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.43400442600250244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1777152121067047},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros40897.2019.8967845","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.05552","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.05552","pdf_url":"https://arxiv.org/pdf/1908.05552","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:irdb.nii.ac.jp:01216:0004906096","is_oa":true,"landing_page_url":"https://kyutech.repo.nii.ac.jp/records/7051","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"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":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"journal article"},{"id":"pmh:oai:kyutech.repo.nii.ac.jp:00007051","is_oa":false,"landing_page_url":"http://hdl.handle.net/10228/00008255","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"AM"},{"id":"doi:10.48550/arxiv.1908.05552","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1908.05552","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"},{"id":"mag:2968730564","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.05552","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.05552","pdf_url":"https://arxiv.org/pdf/1908.05552","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/17","display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2968730564.pdf","grobid_xml":"https://content.openalex.org/works/W2968730564.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1513008436","https://openalex.org/W1533380159","https://openalex.org/W1623311931","https://openalex.org/W1684361744","https://openalex.org/W1979755025","https://openalex.org/W1986014385","https://openalex.org/W1992154343","https://openalex.org/W2012058822","https://openalex.org/W2015363381","https://openalex.org/W2032277247","https://openalex.org/W2053036469","https://openalex.org/W2093333331","https://openalex.org/W2108358935","https://openalex.org/W2127963617","https://openalex.org/W2131912792","https://openalex.org/W2145098376","https://openalex.org/W2331138946","https://openalex.org/W2336416123","https://openalex.org/W2773292515","https://openalex.org/W2869878434","https://openalex.org/W4211008118","https://openalex.org/W4248056173","https://openalex.org/W4293093109","https://openalex.org/W6746816404"],"related_works":["https://openalex.org/W3003285392","https://openalex.org/W2132397500","https://openalex.org/W2615465188","https://openalex.org/W2331138946","https://openalex.org/W2012844124","https://openalex.org/W2011359898","https://openalex.org/W2471216432","https://openalex.org/W2610972589","https://openalex.org/W2334160811","https://openalex.org/W3205570260","https://openalex.org/W2518255983","https://openalex.org/W2321550388","https://openalex.org/W2594865990","https://openalex.org/W2912418841","https://openalex.org/W3205177556","https://openalex.org/W2888265734","https://openalex.org/W2890292055","https://openalex.org/W2166573483","https://openalex.org/W2633905220","https://openalex.org/W3003493788"],"abstract_inverted_index":{"Musculoskeletal":[0],"robots":[1,62],"that":[2,18,72,103],"are":[3],"based":[4],"on":[5,98],"pneumatic":[6],"actuation":[7],"have":[8],"a":[9,64,87,99],"variety":[10],"of":[11,67,77],"properties,":[12],"such":[13,33],"as":[14],"compliance":[15],"and":[16,29,42,81,112],"back-drivability,":[17],"render":[19],"them":[20],"particularly":[21],"appealing":[22],"for":[23,32,55,60,84,89],"human-robot":[24],"collaboration.":[25],"However,":[26],"programming":[27],"interactive":[28],"responsive":[30],"behaviors":[31],"systems":[34],"is":[35,75],"extremely":[36],"challenging":[37],"due":[38],"to":[39,45,107],"the":[40,104],"nonlinearity":[41],"uncertainty":[43],"inherent":[44],"their":[46],"control.":[47],"In":[48],"this":[49,73],"paper,":[50],"we":[51],"propose":[52],"an":[53],"approach":[54,74,105],"learning":[56],"Bayesian":[57],"Interaction":[58],"Primitives":[59],"musculoskeletal":[61],"given":[63],"limited":[65],"set":[66],"example":[68],"demonstrations.":[69],"We":[70],"show":[71,102],"capable":[76],"real-time":[78],"state":[79],"estimation":[80],"response":[82],"generation":[83],"interaction":[85,96,110],"with":[86],"robot":[88],"which":[90],"no":[91],"analytical":[92],"model":[93],"exists.":[94],"Human-robot":[95],"experiments":[97],"'handshake'":[100],"task":[101],"generalizes":[106],"new":[108],"positions,":[109],"partners,":[111],"movement":[113],"velocities.":[114]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-10-10T00:00:00"}