{"id":"https://openalex.org/W4200034772","doi":"https://doi.org/10.1109/iros51168.2021.9636790","title":"Learning Robotic Contact Juggling","display_name":"Learning Robotic Contact Juggling","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200034772","doi":"https://doi.org/10.1109/iros51168.2021.9636790"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636790","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":"conference-paper","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/A5045607922","display_name":"Kazutoshi Tanaka","orcid":"https://orcid.org/0000-0003-0880-9333"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazutoshi Tanaka","raw_affiliation_strings":["OMRON SINIC X Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034718334","display_name":"Masashi Hamaya","orcid":"https://orcid.org/0000-0003-4189-8219"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Hamaya","raw_affiliation_strings":["OMRON SINIC X Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039845084","display_name":"Devwrat Joshi","orcid":"https://orcid.org/0000-0002-5732-3447"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Devwrat Joshi","raw_affiliation_strings":["OMRON SINIC X Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009765043","display_name":"Felix von Drigalski","orcid":"https://orcid.org/0000-0002-2679-8968"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Felix von Drigalski","raw_affiliation_strings":["OMRON SINIC X Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020282208","display_name":"Ryo Yonetani","orcid":"https://orcid.org/0000-0002-2724-6233"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Yonetani","raw_affiliation_strings":["OMRON SINIC X Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000119898","display_name":"Yoshihisa Ijiri","orcid":null},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihisa Ijiri","raw_affiliation_strings":["OMRON SINIC X Corporation, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation, Tokyo, Japan","institution_ids":["https://openalex.org/I146230289"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"958","last_page":"964"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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":0.9979000091552734,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6282735466957092},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5616686940193176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3714371919631958}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6282735466957092},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5616686940193176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3714371919631958}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636790","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1515851193","https://openalex.org/W1571870753","https://openalex.org/W1964458699","https://openalex.org/W1982803779","https://openalex.org/W1984154042","https://openalex.org/W2022547028","https://openalex.org/W2069913713","https://openalex.org/W2100993276","https://openalex.org/W2137226992","https://openalex.org/W2150884987","https://openalex.org/W2157720571","https://openalex.org/W2167340365","https://openalex.org/W2167664500","https://openalex.org/W2168342951","https://openalex.org/W2180748755","https://openalex.org/W2580909119","https://openalex.org/W2782631739","https://openalex.org/W2789539638","https://openalex.org/W2967717386","https://openalex.org/W3031634197","https://openalex.org/W3089337217","https://openalex.org/W3130283781","https://openalex.org/W3205520612","https://openalex.org/W3208165232","https://openalex.org/W4298206671","https://openalex.org/W4322718269","https://openalex.org/W6680532697","https://openalex.org/W6751494529","https://openalex.org/W6768397756","https://openalex.org/W6784062865","https://openalex.org/W6791019387"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Robotic":[0],"contact":[1,32,48,69,167],"juggling":[2,49,70,154,168],"is":[3,62],"a":[4,15,74,84,98,105,115,118,123,129,164,171],"challenging":[5],"task":[6],"in":[7,27,147],"which":[8],"robots":[9],"must":[10],"control":[11],"the":[12,25,34,42,68,93,112,135,158],"movement":[13],"of":[14,31,44,67,73,77,107,114,160,166],"ball":[16,26,119],"rapidly":[17],"and":[18,28,52,91,117,138],"indirectly":[19],"without":[20],"holding":[21],"it":[22],"while":[23,120],"keeping":[24],"sometimes":[29],"out":[30],"with":[33],"robot\u2019s":[35],"body.":[36],"In":[37],"this":[38],"work,":[39],"we":[40,96],"address":[41],"problem":[43],"learning":[45,57,122],"such":[46,88],"robotic":[47,172],"from":[50],"trial":[51],"error":[53],"via":[54],"model-based":[55],"reinforcement":[56],"(MBRL).":[58],"The":[59,140],"key":[60],"insight":[61],"that":[63,80,102,126],"complex":[64],"robot-ball":[65],"interactions":[66],"actually":[71],"consist":[72],"small":[75],"set":[76,106],"simple":[78,108],"dynamics":[79,109,131],"each":[81],"corresponds":[82],"to":[83,111,151],"distinct":[85],"interaction":[86],"\"primitive\"":[87],"as":[89],"touching":[90],"releasing":[92],"ball.":[94],"Accordingly,":[95],"develop":[97],"tailored":[99],"MBRL":[100,149],"method":[101],"incrementally":[103],"fits":[104],"models":[110],"movements":[113],"robot":[116],"also":[121],"switching":[124],"model":[125,132,142],"can":[127,143],"select":[128],"proper":[130],"depending":[133],"on":[134,163],"current":[136],"state":[137],"action.":[139],"learned":[141],"then":[144],"be":[145],"used":[146],"an":[148],"framework":[150],"seek":[152],"optimal":[153],"control.":[155],"We":[156],"demonstrated":[157],"effectiveness":[159],"our":[161],"approach":[162],"simulator":[165],"performed":[169],"by":[170],"arm.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}