{"id":"https://openalex.org/W3113791315","doi":"https://doi.org/10.1109/lra.2020.3047772","title":"Sequential Motion Primitives Recognition of Robotic Arm Task via Human Demonstration Using Hierarchical BiLSTM Classifier","display_name":"Sequential Motion Primitives Recognition of Robotic Arm Task via Human Demonstration Using Hierarchical BiLSTM Classifier","publication_year":2020,"publication_date":"2020-12-28","ids":{"openalex":"https://openalex.org/W3113791315","doi":"https://doi.org/10.1109/lra.2020.3047772","mag":"3113791315"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3047772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3047772","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5057193783","display_name":"Chin\u2010Sheng Chen","orcid":"https://orcid.org/0000-0001-7060-1344"},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chin-Sheng Chen","raw_affiliation_strings":["National Taipei University of Technology, Taipei, Taiwan","Institute of Automation Technology, National Taipei University of Technology, Taipei, Taiwan#TAB#"],"raw_orcid":"https://orcid.org/0000-0001-7060-1344","affiliations":[{"raw_affiliation_string":"National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Institute of Automation Technology, National Taipei University of Technology, Taipei, Taiwan#TAB#","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037580896","display_name":"Shih-Kang Chen","orcid":"https://orcid.org/0000-0002-1895-2144"},"institutions":[{"id":"https://openalex.org/I118292597","display_name":"National Taipei University of Technology","ror":"https://ror.org/00cn92c09","country_code":"TW","type":"education","lineage":["https://openalex.org/I118292597"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shih-Kang Chen","raw_affiliation_strings":["National Taipei University of Technology, Taipei, Taiwan","Graduate Institute of Mechanical and Electrical Engineering, National Taipei University of Technology,Taipei,Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-1895-2144","affiliations":[{"raw_affiliation_string":"National Taipei University of Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I118292597"]},{"raw_affiliation_string":"Graduate Institute of Mechanical and Electrical Engineering, National Taipei University of Technology,Taipei,Taiwan","institution_ids":["https://openalex.org/I118292597"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090698142","display_name":"Chun-Chi Lai","orcid":"https://orcid.org/0000-0001-9077-0858"},"institutions":[{"id":"https://openalex.org/I75357094","display_name":"National Yunlin University of Science and Technology","ror":"https://ror.org/04qkq2m54","country_code":"TW","type":"education","lineage":["https://openalex.org/I75357094"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun-Chi Lai","raw_affiliation_strings":["National Yunlin University of Science and Technology, Taiwan","[Department of Electrical Engineering, National Yunlin University of Science & Technology, Taiwan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Yunlin University of Science and Technology, Taiwan","institution_ids":["https://openalex.org/I75357094"]},{"raw_affiliation_string":"[Department of Electrical Engineering, National Yunlin University of Science & Technology, Taiwan]","institution_ids":["https://openalex.org/I75357094"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058936239","display_name":"Chin\u2010Teng Lin","orcid":"https://orcid.org/0000-0001-8371-8197"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chin-Teng Lin","raw_affiliation_strings":["University of Technology Sydney, Sydney, Australia","CIBCI Lab, Centre for AI, FEIT, University of Technology Sydney, Sydney, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Technology Sydney, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"CIBCI Lab, Centre for AI, FEIT, University of Technology Sydney, Sydney, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0604,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.75642541,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":"2","first_page":"502","last_page":"509"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9772999882698059,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9642999768257141,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/computer-science","display_name":"Computer science","score":0.7517268657684326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.734402596950531},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.6175445914268494},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.603820264339447},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.5079370141029358},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49664145708084106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4550808370113373},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4248567819595337},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3551369309425354},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11074602603912354},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10110220313072205}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7517268657684326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.734402596950531},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.6175445914268494},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.603820264339447},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.5079370141029358},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49664145708084106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4550808370113373},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4248567819595337},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3551369309425354},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11074602603912354},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10110220313072205},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3047772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.3047772","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/145648","is_oa":false,"landing_page_url":"http://hdl.handle.net/10453/145648","pdf_url":null,"source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3039715251","display_name":null,"funder_award_id":"MOST 108-2221-E-027-094","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1517808374","https://openalex.org/W1591801644","https://openalex.org/W1810943226","https://openalex.org/W1853876282","https://openalex.org/W1894373409","https://openalex.org/W1950788856","https://openalex.org/W1963873191","https://openalex.org/W1972215393","https://openalex.org/W1978023077","https://openalex.org/W1981364618","https://openalex.org/W1986014385","https://openalex.org/W1995515218","https://openalex.org/W2022760091","https://openalex.org/W2023944350","https://openalex.org/W2060119621","https://openalex.org/W2064675550","https://openalex.org/W2066202893","https://openalex.org/W2066689391","https://openalex.org/W2110242546","https://openalex.org/W2131774270","https://openalex.org/W2143612262","https://openalex.org/W2158143121","https://openalex.org/W2161872204","https://openalex.org/W2328100584","https://openalex.org/W2550829861","https://openalex.org/W2587486463","https://openalex.org/W2606294640","https://openalex.org/W2615040076","https://openalex.org/W2789929130","https://openalex.org/W2798278949","https://openalex.org/W2800771782","https://openalex.org/W2922024175","https://openalex.org/W2931803693","https://openalex.org/W2965187964","https://openalex.org/W2975243818","https://openalex.org/W2998678080","https://openalex.org/W3004268044","https://openalex.org/W4252287909","https://openalex.org/W6630956611","https://openalex.org/W6635446068","https://openalex.org/W6638273328","https://openalex.org/W6644756748","https://openalex.org/W6733190831"],"related_works":["https://openalex.org/W4236636304","https://openalex.org/W2687972263","https://openalex.org/W2029249305","https://openalex.org/W2511137960","https://openalex.org/W2061090284","https://openalex.org/W2144043954","https://openalex.org/W3214088465","https://openalex.org/W2125579716","https://openalex.org/W2115571026","https://openalex.org/W2684384989"],"abstract_inverted_index":{"Learning":[0],"from":[1,55],"demonstration":[2],"(LfD)":[3],"is":[4,21,47,64,84],"an":[5,13],"intuitive":[6,42],"teaching":[7,45],"technology":[8,46],"without":[9],"extensive":[10],"programming":[11],"for":[12],"operator.":[14],"In":[15,37],"recent":[16],"LfD":[17],"research,":[18],"machine":[19,61],"vision":[20],"usually":[22],"used":[23,85,107,161,169],"to":[24,69,76,86,108,162,170],"capture":[25],"the":[26,34,51,77,90,95,111,116,125,130,138,148,156,164,179,191,197],"human-robot":[27],"interaction.":[28],"However,":[29],"it's":[30],"not":[31],"reliable":[32],"during":[33],"machining":[35],"process.":[36],"this":[38,67],"letter,":[39],"a":[40,143,172,184],"novel":[41],"high-level":[43],"kinesthetic":[44],"proposed":[48,65,117,131,157,198],"by":[49,115],"reconstructing":[50],"motion":[52,73,91,103,113,140,144],"information":[53],"recorded":[54,139],"human-guided":[56,165],"demonstrations.":[57],"A":[58,80],"hierarchical":[59],"BiLSTM-based":[60],"learning":[62],"algorithm":[63,127,158],"in":[66,193],"letter":[68],"recognize":[70],"and":[71,88,99,122,135,167,189],"segment":[72],"primitives":[74],"according":[75],"therblig":[78],"definition.":[79],"hybrid":[81],"sensing":[82],"interface":[83],"record":[87],"extract":[89],"features,":[92],"consisting":[93],"of":[94,151,178],"velocity":[96],"profile,":[97],"force/torque,":[98],"gripper":[100],"information.":[101],"The":[102,119,175],"features":[104,141],"are":[105],"then":[106],"classify":[109],"into":[110,142],"target":[112],"primitive":[114,145],"classifier.":[118],"experimental":[120,176],"results":[121,150,177],"comparisons":[123],"with":[124],"state-of-the-art":[126],"show":[128,154,182],"that":[129,155,183],"method":[132],"can":[133,159,187],"correctly":[134],"efficiently":[136],"synthesize":[137],"sequence.":[146],"Finally,":[147],"recognition":[149],"real-world":[152,185],"tasks":[153],"be":[160],"reconstruct":[163],"task":[166,186],"further":[168],"command":[171],"KUKA":[173],"robot.":[174],"reconstructed":[180],"trajectory":[181],"represent":[188],"maintain":[190],"accuracy":[192],"2.37":[194],"mm":[195],"using":[196],"algorithm.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
