{"id":"https://openalex.org/W4416748595","doi":"https://doi.org/10.1109/iros60139.2025.11246079","title":"Online-HMM with Two-Layer Bayesian Method for Operator's Expected Speed Estimation in Teleoperated Gluing Tasks <sup>*</sup>","display_name":"Online-HMM with Two-Layer Bayesian Method for Operator's Expected Speed Estimation in Teleoperated Gluing Tasks <sup>*</sup>","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748595","doi":"https://doi.org/10.1109/iros60139.2025.11246079"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5035388787","display_name":"Wenke Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenke Zhou","raw_affiliation_strings":["Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086659745","display_name":"Zhitao Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhitao Gao","raw_affiliation_strings":["Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418499","display_name":"Chen Chen","orcid":"https://orcid.org/0000-0002-8364-5749"},"institutions":[{"id":"https://openalex.org/I43922553","display_name":"Wuhan University of Science and Technology","ror":"https://ror.org/00e4hrk88","country_code":"CN","type":"education","lineage":["https://openalex.org/I43922553"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Chen","raw_affiliation_strings":["Wuhan University of Science and Technology,Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan,China,430000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University of Science and Technology,Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering,Wuhan,China,430000","institution_ids":["https://openalex.org/I43922553"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029146465","display_name":"Fangyu Peng","orcid":"https://orcid.org/0000-0001-7384-1642"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangyu Peng","raw_affiliation_strings":["Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060842938","display_name":"Yukui Zhang","orcid":"https://orcid.org/0000-0002-3833-2006"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukui Zhang","raw_affiliation_strings":["Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082041593","display_name":"Rong Yan","orcid":"https://orcid.org/0000-0002-5649-9803"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Yan","raw_affiliation_strings":["Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084437455","display_name":"Xiaowei Tang","orcid":"https://orcid.org/0009-0007-8863-919X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowei Tang","raw_affiliation_strings":["Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hu Azhong University of Science and Technology,School of Mechanical Science and Engineering,Wuhan,China,430000","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060745524","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0002-1809-0492"},"institutions":[{"id":"https://openalex.org/I167383011","display_name":"Henan University of Science and Technology","ror":"https://ror.org/05d80kz58","country_code":"CN","type":"education","lineage":["https://openalex.org/I167383011"]},{"id":"https://openalex.org/I36152291","display_name":"Henan University of Technology","ror":"https://ror.org/05sbgwt55","country_code":"CN","type":"education","lineage":["https://openalex.org/I36152291"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Henan University of Science and Technology,School of Mechatronics Engineering,China,471000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Henan University of Science and Technology,School of Mechatronics Engineering,China,471000","institution_ids":["https://openalex.org/I167383011","https://openalex.org/I36152291"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14587","last_page":"14594"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9592999815940857,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9592999815940857,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.01640000008046627,"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/T10982","display_name":"Motor Control and Adaptation","score":0.00419999985024333,"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/teleoperation","display_name":"Teleoperation","score":0.8930000066757202},{"id":"https://openalex.org/keywords/hidden-markov-model","display_name":"Hidden Markov model","score":0.6561999917030334},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6478000283241272},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5763000249862671},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5422000288963318},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4629000127315521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39570000767707825},{"id":"https://openalex.org/keywords/recursive-bayesian-estimation","display_name":"Recursive Bayesian estimation","score":0.32820001244544983}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8930000066757202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7052000164985657},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.6561999917030334},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6478000283241272},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5763000249862671},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5422000288963318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5309000015258789},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4629000127315521},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4032000005245209},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39570000767707825},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36410000920295715},{"id":"https://openalex.org/C40343088","wikidata":"https://www.wikidata.org/wiki/Q3059012","display_name":"Recursive Bayesian estimation","level":3,"score":0.32820001244544983},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.32429999113082886},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3190000057220459},{"id":"https://openalex.org/C68022304","wikidata":"https://www.wikidata.org/wiki/Q842217","display_name":"Bayes estimator","level":3,"score":0.29919999837875366},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.27959999442100525},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2646999955177307},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.26429998874664307},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2540000081062317},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.25220000743865967},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246079","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246079","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2073680033","https://openalex.org/W2086699924","https://openalex.org/W2125838338","https://openalex.org/W2613446563","https://openalex.org/W2744687549","https://openalex.org/W2793128988","https://openalex.org/W2795577874","https://openalex.org/W2801866677","https://openalex.org/W2952518946","https://openalex.org/W2983271161","https://openalex.org/W3005870763","https://openalex.org/W3138205857","https://openalex.org/W3161201525","https://openalex.org/W3197552863","https://openalex.org/W4226269437","https://openalex.org/W4226366105","https://openalex.org/W4312965431","https://openalex.org/W4319790665","https://openalex.org/W4327979778","https://openalex.org/W4383108629","https://openalex.org/W4383109479","https://openalex.org/W4386212363","https://openalex.org/W4390576760","https://openalex.org/W4394746593","https://openalex.org/W4399129713","https://openalex.org/W4407711543"],"related_works":[],"abstract_inverted_index":{"For":[0],"direct":[1],"teleoperation":[2],"tasks,":[3],"the":[4,12,15,18,24,27,40,70,74,91,96,119,124,128,140,144,158,167,178],"follower":[5],"robot":[6],"accomplishes":[7],"tasks":[8,31],"by":[9,72],"strictly":[10],"executing":[11],"inputs":[13],"from":[14],"operator.":[16],"However,":[17],"operator's":[19,75],"physiological":[20],"tremor":[21,42,71],"seriously":[22],"reduces":[23,162],"smoothness":[25],"of":[26,95,127,143,169],"trajectory,":[28],"especially":[29,171],"in":[30,149],"relying":[32],"on":[33,109],"operator\u2019s":[34],"experience":[35],"such":[36],"as":[37,101],"gluing,":[38],"while":[39],"random":[41],"is":[43,85,99,115,136],"hard":[44],"to":[45,68,87,117,138],"be":[46],"described":[47],"and":[48,84,122,151,165],"suppressed":[49],"online.":[50],"To":[51],"navigate":[52],"this":[53,55],"challenge,":[54],"paper":[56],"proposes":[57],"an":[58,102,105],"Online":[59],"Hidden":[60],"Markov":[61],"Model":[62],"with":[63,177],"Two-Layer":[64],"Bayesian":[65,134],"(TLB-OHMM)":[66],"method":[67,107,135,160],"suppress":[69],"estimating":[73],"expected":[76,141],"speed,":[77],"which":[78],"can":[79],"recognize":[80],"new":[81],"intention":[82],"online":[83,110,125],"adaptive":[86],"complex":[88,173],"trajectories.":[89],"First,":[90],"actual":[92],"moving":[93],"speed":[94,142],"human":[97,145],"hand":[98],"modeled":[100],"HMM.":[103],"Then,":[104],"Online-HMM":[106],"based":[108,181],"expectation":[111],"maximum":[112],"(EM)":[113],"algorithm":[114],"introduced":[116],"shorten":[118],"training":[120],"time":[121,164],"realize":[123],"updating":[126],"HMM":[129,180],"parameters.":[130],"Finally,":[131],"a":[132],"two-layer":[133],"proposed":[137,159],"estimate":[139],"hand.":[146],"Experimental":[147],"results":[148],"simulation":[150],"real":[152],"teleoperated":[153],"gluing":[154],"task":[155],"show":[156],"that":[157],"greatly":[161],"computation":[163],"improves":[166],"quality":[168],"trajectories,":[170,175],"for":[172],"curve":[174],"compared":[176],"traditional":[179],"method.":[182]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-11-28T00:00:00"}