{"id":"https://openalex.org/W4389665701","doi":"https://doi.org/10.1109/iros55552.2023.10342173","title":"Learning Joint Space Reference Manifold for Reliable Physical Assistance","display_name":"Learning Joint Space Reference Manifold for Reliable Physical Assistance","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665701","doi":"https://doi.org/10.1109/iros55552.2023.10342173"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":"https://infoscience.epfl.ch/handle/20.500.14299/206318","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049327938","display_name":"Amirreza Razmjoo","orcid":"https://orcid.org/0000-0003-3826-6608"},"institutions":[{"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"],"is_corresponding":false,"raw_author_name":"Amirreza Razmjoo","raw_affiliation_strings":["Idiap Research Institute,CH","Idiap Research Institute, CH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Idiap Research Institute,CH","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"Idiap Research Institute, CH","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006928783","display_name":"Tilen Brecelj","orcid":"https://orcid.org/0000-0002-0297-8286"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Tilen Brecelj","raw_affiliation_strings":["Jo&#x017E;ef Stefan Institute,SI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jo&#x017E;ef Stefan Institute,SI","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066618466","display_name":"Kristina Savevska","orcid":"https://orcid.org/0009-0005-0584-6499"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Kristina Savevska","raw_affiliation_strings":["Jo&#x017E;ef Stefan Institute,SI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jo&#x017E;ef Stefan Institute,SI","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019399129","display_name":"Ale\u0161 Ude","orcid":"https://orcid.org/0000-0003-3677-3972"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Ale\u0161 Ude","raw_affiliation_strings":["Jo&#x017E;ef Stefan Institute,SI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jo&#x017E;ef Stefan Institute,SI","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006256668","display_name":"Tadej Petri\u010d","orcid":"https://orcid.org/0000-0002-3407-4206"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Tadej Petri\u010d","raw_affiliation_strings":["Jo&#x017E;ef Stefan Institute,SI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jo&#x017E;ef Stefan Institute,SI","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"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"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute,CH","Idiap Research Institute, CH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Idiap Research Institute,CH","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"Idiap Research Institute, CH","institution_ids":["https://openalex.org/I7495430"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1721,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.50233137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"10412","last_page":"10417"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9993000030517578,"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":0.9972000122070312,"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":0.7203561067581177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6930916905403137},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6735591292381287},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6284900307655334},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5688562989234924},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5147905349731445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4949142336845398},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.48335000872612},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.48113003373146057},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4699157774448395},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.45819956064224243},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45031359791755676},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37383386492729187},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32258373498916626},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2794400453567505},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22286248207092285},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.14552366733551025},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11885568499565125}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7203561067581177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6930916905403137},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6735591292381287},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6284900307655334},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5688562989234924},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5147905349731445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4949142336845398},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.48335000872612},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.48113003373146057},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4699157774448395},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.45819956064224243},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45031359791755676},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37383386492729187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32258373498916626},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2794400453567505},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22286248207092285},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.14552366733551025},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11885568499565125},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros55552.2023.10342173","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342173","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:309720","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/206318","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":"WoS","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:309720","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/206318","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":"WoS","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1536792773","https://openalex.org/W1968778174","https://openalex.org/W2061983716","https://openalex.org/W2073330885","https://openalex.org/W2104479525","https://openalex.org/W2136719407","https://openalex.org/W2143729862","https://openalex.org/W2151182239","https://openalex.org/W2291804674","https://openalex.org/W2491934829","https://openalex.org/W2541047558","https://openalex.org/W2604272474","https://openalex.org/W2777802094","https://openalex.org/W2969076781","https://openalex.org/W3003257820","https://openalex.org/W3104230209","https://openalex.org/W4205646995","https://openalex.org/W4207038247","https://openalex.org/W4298128152","https://openalex.org/W4312315482","https://openalex.org/W6680971464"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W4293926484","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W4386128912","https://openalex.org/W2910269320"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,26,34,62,97,105,120],"study":[4],"on":[5,92,112],"the":[6,9,23,66,70,76,80,87,93,101,125,136,140,147,157],"use":[7,119],"of":[8,29,45,95,142,149],"Talos":[10,158],"humanoid":[11],"robot":[12,49,71],"for":[13,60,65,100],"performing":[14],"assistive":[15],"sit-to-stand":[16],"or":[17],"stand-to-sit":[18],"tasks.":[19],"In":[20],"such":[21],"tasks,":[22],"human":[24,46,81,143],"exerts":[25],"large":[27],"amount":[28],"force":[30,77],"(100\u2013200":[31],"N)":[32],"within":[33],"very":[35],"short":[36],"time":[37],"(2\u20138":[38],"s),":[39],"posing":[40],"significant":[41],"challenges":[42],"in":[43],"terms":[44],"unpredictability":[47,141],"and":[48,82,127,139,154,162],"stability":[50,85,138],"control.":[51],"To":[52,115],"address":[53],"these":[54],"challenges,":[55],"we":[56,90,118],"propose":[57],"an":[58,129],"approach":[59,151],"finding":[61,96],"spatial":[63],"reference":[64],"robot,":[67,102,159],"which":[68],"allows":[69],"to":[72,75,108,123],"move":[73],"according":[74],"exerted":[78],"by":[79],"control":[83],"its":[84,110],"during":[86],"task.":[88],"Specifically,":[89],"focus":[91],"problem":[94,131],"1D":[98],"manifold":[99,126],"while":[103],"assuming":[104],"simple":[106],"controller":[107],"guide":[109],"movement":[111],"this":[113],"manifold.":[114],"achieve":[116],"this,":[117],"functional":[121],"representation":[122],"parameterize":[124],"solve":[128],"optimization":[130],"that":[132],"takes":[133],"into":[134],"account":[135],"robot's":[137],"behavior.":[144],"We":[145],"demonstrate":[146],"effectiveness":[148],"our":[150],"through":[152],"simulations":[153],"experiments":[155],"with":[156],"showing":[160],"robustness":[161],"adaptability.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
