{"id":"https://openalex.org/W4200565903","doi":"https://doi.org/10.1109/iros51168.2021.9636047","title":"Learning and Interactive Design of Shared Control Templates","display_name":"Learning and Interactive Design of Shared Control Templates","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200565903","doi":"https://doi.org/10.1109/iros51168.2021.9636047"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636047","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5055668072","display_name":"Gabriel Quere","orcid":"https://orcid.org/0000-0002-1788-3685"},"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":"Gabriel Quere","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101779594","display_name":"Samuel Bustamante","orcid":"https://orcid.org/0000-0002-7923-8307"},"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":"Samuel Bustamante","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007582999","display_name":"Annette Hagengruber","orcid":"https://orcid.org/0000-0002-8243-1327"},"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":"Annette Hagengruber","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011573471","display_name":"J\u00f6rn Vogel","orcid":"https://orcid.org/0000-0002-1987-0028"},"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":"Jorn Vogel","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077188472","display_name":"Franz Steinmetz","orcid":"https://orcid.org/0000-0002-1481-9215"},"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":"Franz Steinmetz","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017689065","display_name":"Freek Stulp","orcid":"https://orcid.org/0000-0001-9555-9517"},"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":"Freek Stulp","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5055668072"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":2.6226,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.91150031,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":96},"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":0.9991000294685364,"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":0.9991000294685364,"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":0.9970999956130981,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7930001616477966},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7226331233978271},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6906334757804871},{"id":"https://openalex.org/keywords/template","display_name":"Template","score":0.6532377004623413},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6086892485618591},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5635358095169067},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4613179862499237},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.43604785203933716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4243185818195343},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10305771231651306},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.08758294582366943}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7930001616477966},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7226331233978271},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6906334757804871},{"id":"https://openalex.org/C82714645","wikidata":"https://www.wikidata.org/wiki/Q438331","display_name":"Template","level":2,"score":0.6532377004623413},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6086892485618591},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5635358095169067},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4613179862499237},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.43604785203933716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4243185818195343},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10305771231651306},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.08758294582366943},{"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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros51168.2021.9636047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636047","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:145804","is_oa":false,"landing_page_url":"https://doi.org/10.1109/IROS51168.2021.9636047>.","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2063346060","https://openalex.org/W2063471043","https://openalex.org/W2089145243","https://openalex.org/W2105925198","https://openalex.org/W2116341587","https://openalex.org/W2138537392","https://openalex.org/W2144994235","https://openalex.org/W2153667689","https://openalex.org/W2562545901","https://openalex.org/W2571352963","https://openalex.org/W2588104504","https://openalex.org/W2738190501","https://openalex.org/W2790754119","https://openalex.org/W2893298156","https://openalex.org/W2899061098","https://openalex.org/W2899075451","https://openalex.org/W2904757378","https://openalex.org/W2985093159","https://openalex.org/W3004409244","https://openalex.org/W3090359064","https://openalex.org/W3091182126","https://openalex.org/W3115690686","https://openalex.org/W3129731039","https://openalex.org/W3134383769","https://openalex.org/W3205225162","https://openalex.org/W4232476872","https://openalex.org/W6682287954","https://openalex.org/W6766170616","https://openalex.org/W6767796685"],"related_works":["https://openalex.org/W2121300814","https://openalex.org/W4234406076","https://openalex.org/W1886613375","https://openalex.org/W4236081792","https://openalex.org/W4250583430","https://openalex.org/W2010731026","https://openalex.org/W2360893094","https://openalex.org/W4236036386","https://openalex.org/W2044123706","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Controlling":[0],"a":[1,69,84,136,139],"robotic":[2,73],"arm":[3],"to":[4,34,61,108,114],"achieve":[5],"manipulation":[6],"tasks":[7,132],"is":[8,22,68],"challenging":[9],"for":[10,26,43,86,130],"humans.":[11],"Especially":[12],"if":[13],"only":[14],"low-dimensional":[15],"input":[16],"signals":[17],"can":[18,105,123],"be":[19,62,106,124],"provided,":[20],"as":[21,134],"often":[23],"the":[24,46,91,119],"case":[25],"users":[27],"with":[28,45],"motor":[29],"impairments.":[30],"Using":[31],"shared":[32,128],"control":[33,41,129],"provide":[35],"task-specific":[36],"guidance":[37],"and":[38,53,80,101],"constraints":[39],"facilitates":[40],"\u2013":[42,52],"instance":[44],"Shared":[47],"Control":[48],"Templates":[49],"(SCT)":[50],"framework":[51],"enables":[54],"even":[55],"complex":[56],"activities":[57],"of":[58,93],"daily":[59],"living":[60],"performed":[63],"successfully.":[64],"However,":[65],"designing":[66,88],"SCTs":[67,89,120],"laborious":[70],"task":[71],"requiring":[72],"expertise.":[74],"To":[75],"make":[76],"such":[77,133],"design":[78],"easier":[79],"faster,":[81],"we":[82,96],"propose":[83,97],"method":[85],"semi-automatically":[87],"on":[90,141],"basis":[92],"demonstrations.":[94],"Furthermore,":[95],"two":[98],"similarity":[99],"metrics,":[100],"demonstrate":[102,117],"how":[103],"these":[104],"used":[107,126],"transfer":[109],"knowledge":[110],"from":[111],"one":[112],"SCT":[113],"another.":[115],"We":[116],"that":[118],"so":[121],"acquired":[122],"successfully":[125],"in":[127],"everyday":[131],"opening":[135],"drawer":[137],"or":[138],"cupboard":[140],"our":[142],"assistive":[143],"robot":[144],"EDAN.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}