{"id":"https://openalex.org/W7128422479","doi":"https://doi.org/10.1109/lra.2026.3662532","title":"A Kinesthetic Teaching Framework for Tasks With Contact Transitions and Time-Optimized Execution","display_name":"A Kinesthetic Teaching Framework for Tasks With Contact Transitions and Time-Optimized Execution","publication_year":2026,"publication_date":"2026-02-09","ids":{"openalex":"https://openalex.org/W7128422479","doi":"https://doi.org/10.1109/lra.2026.3662532"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3662532","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662532","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3662532","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5105031922","display_name":"Nikolas Thelenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Nikolas Thelenberg","raw_affiliation_strings":["Automation and Control Institute (ACIN), TU Wien, Vienna, Austria"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute (ACIN), TU Wien, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Automation and Control Institute (ACIN), TU Wien, Vienna, Austria"],"affiliations":[{"raw_affiliation_string":"Automation and Control Institute (ACIN), TU Wien, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5105031922"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.68539746,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"3971","last_page":"3978"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8910999894142151,"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":0.8910999894142151,"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":0.03400000184774399,"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/T10982","display_name":"Motor Control and Adaptation","score":0.020500000566244125,"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/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.833899974822998},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.7322999835014343},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5501999855041504},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5162000060081482},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5085999965667725},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.507099986076355},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.39419999718666077}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.833899974822998},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.7322999835014343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5562000274658203},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5501999855041504},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5162000060081482},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5085999965667725},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.507099986076355},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.39419999718666077},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.39239999651908875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37220001220703125},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.3659999966621399},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.3321000039577484},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3278000056743622},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31850001215934753},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3160000145435333},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3046000003814697},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30059999227523804},{"id":"https://openalex.org/C90559484","wikidata":"https://www.wikidata.org/wiki/Q778379","display_name":"Expression (computer science)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2906999886035919}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3662532","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662532","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3662532","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3662532","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W28635149","https://openalex.org/W627073020","https://openalex.org/W1978023077","https://openalex.org/W1978413780","https://openalex.org/W2026669106","https://openalex.org/W2038662471","https://openalex.org/W2051910344","https://openalex.org/W2063182199","https://openalex.org/W2084399420","https://openalex.org/W2084828843","https://openalex.org/W2099454002","https://openalex.org/W2103120971","https://openalex.org/W2115091574","https://openalex.org/W2421466899","https://openalex.org/W2563129138","https://openalex.org/W2967099712","https://openalex.org/W3010621561","https://openalex.org/W3033809666","https://openalex.org/W4229856339","https://openalex.org/W4240172577","https://openalex.org/W4298128032","https://openalex.org/W4313065337","https://openalex.org/W4401798392"],"related_works":[],"abstract_inverted_index":{"In":[0],"kinesthetic":[1],"teaching,":[2,110],"a":[3,9,14,45,71,93,119,141],"robot":[4],"is":[5,67,115],"manually":[6],"guided":[7],"by":[8,69],"human":[10],"operator":[11],"to":[12,27,49,79,91,117],"demonstrate":[13],"task.":[15],"Most":[16],"methods":[17],"focus":[18],"on":[19,104,123],"replaying":[20],"the":[21,88,97,105,109,111,128],"recorded":[22,112],"motion,":[23],"but":[24],"are":[25,131],"agnostic":[26],"contact":[28,59,64,98,129],"transitions,":[29],"which":[30,127],"can":[31],"be":[32],"critical":[33],"when":[34,99],"interacting":[35],"with":[36,140],"rigid":[37],"environments.":[38],"To":[39],"overcome":[40],"this":[41],"limitation,":[42],"we":[43],"propose":[44],"framework":[46,137],"that":[47,76],"allows":[48],"teach":[50],"motions":[51],"in":[52,58,126,138],"free":[53],"space":[54],"as":[55,57],"well":[56],"while":[60],"preventing":[61],"fast":[62],"unintended":[63],"transitions.":[65],"This":[66],"accomplished":[68],"exploiting":[70],"projection-based":[72],"unilateral":[73],"damping":[74,89],"force":[75],"increases":[77],"close":[78],"contact.":[80],"We":[81,134],"derive":[82],"an":[83],"explicit":[84],"analytical":[85],"expression":[86],"for":[87],"characteristics":[90],"ensure":[92],"safe":[94],"stop":[95],"before":[96],"no":[100],"further":[101],"forces":[102],"act":[103],"robot.":[106],"Furthermore,":[107],"after":[108],"motion":[113],"data":[114],"utilized":[116],"generate":[118],"time-optimized":[120],"trajectory":[121],"based":[122],"convex":[124],"optimization,":[125],"transitions":[130],"explicitly":[132],"considered.":[133],"validated":[135],"our":[136],"experiments":[139],"torque-controlled":[142],"manipulator.":[143]},"counts_by_year":[],"updated_date":"2026-02-20T06:14:18.993340","created_date":"2026-02-10T00:00:00"}
