{"id":"https://openalex.org/W2026517702","doi":"https://doi.org/10.1109/robio.2011.6181286","title":"Augmenting movement imitation with reflexive stability behavior","display_name":"Augmenting movement imitation with reflexive stability behavior","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2026517702","doi":"https://doi.org/10.1109/robio.2011.6181286","mag":"2026517702"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-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/A5028393702","display_name":"Andrej Gams","orcid":"https://orcid.org/0000-0002-9803-3593"},"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":true,"raw_author_name":"Andrej Gams","raw_affiliation_strings":["Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia","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 Petric","raw_affiliation_strings":["Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060743876","display_name":"Jan Babi\u010d","orcid":"https://orcid.org/0000-0002-1870-8264"},"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":"Jan Babic","raw_affiliation_strings":["Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062518437","display_name":"Leon \u017dlajpah","orcid":"https://orcid.org/0000-0002-2820-2697"},"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":"Leon Zlajpah","raw_affiliation_strings":["Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5028393702"],"corresponding_institution_ids":["https://openalex.org/I3006985408"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.1001783,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"165","issue":null,"first_page":"204","last_page":"209"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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/T10653","display_name":"Robot Manipulation and Learning","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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/movement","display_name":"Movement (music)","score":0.665502667427063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6542242765426636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6535968780517578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.573388934135437},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5669574737548828},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48382750153541565},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45748013257980347},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45744866132736206},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.44712740182876587},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.42178207635879517},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4118390679359436},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37565815448760986},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1926966905593872},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17966458201408386},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13958168029785156},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12952202558517456},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09559562802314758}],"concepts":[{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.665502667427063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6542242765426636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6535968780517578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.573388934135437},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5669574737548828},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48382750153541565},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45748013257980347},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45744866132736206},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.44712740182876587},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.42178207635879517},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4118390679359436},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37565815448760986},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1926966905593872},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17966458201408386},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13958168029785156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12952202558517456},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09559562802314758},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1516801383","https://openalex.org/W1990654347","https://openalex.org/W1995086487","https://openalex.org/W2008451308","https://openalex.org/W2037729465","https://openalex.org/W2071707043","https://openalex.org/W2077358809","https://openalex.org/W2094664081","https://openalex.org/W2099684186","https://openalex.org/W2107063340","https://openalex.org/W2110304639","https://openalex.org/W2112474089","https://openalex.org/W2116226448","https://openalex.org/W2130068673","https://openalex.org/W2155732403","https://openalex.org/W2166302491","https://openalex.org/W6676348739"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2047027848","https://openalex.org/W2032108408"],"abstract_inverted_index":{"Even":[0],"though":[1],"humans":[2],"and":[3,30,122],"a":[4,49,73,85,90,97,105,111,144,152,196],"humanoid":[5],"robots":[6],"have":[7],"similar":[8],"kinematic":[9],"structures,":[10],"directly":[11],"imitating":[12],"human":[13,60],"movement":[14,56,79,125,139,166,174],"does":[15],"not":[16],"guarantee":[17],"the":[18,22,36,54,63,69,77,94,102,130,138,141,161,169,181,190,193],"same":[19,64],"behavior":[20],"of":[21,25,62,68,93,104,192],"robot":[23,182,200],"because":[24],"their":[26],"different":[27,32,184],"dynamical":[28],"properties":[29,191],"perhaps":[31],"conditions":[33],"under":[34],"which":[35,107,156,176],"task":[37,120],"is":[38,71,108,116,133],"being":[39],"performed.":[40],"Our":[41,114],"research":[42],"starts":[43],"by":[44],"showing":[45],"how":[46],"to":[47,52,84],"apply":[48],"generalization":[50],"algorithm":[51,194],"extract":[53],"desired":[55],"primitives":[57,80],"from":[58],"multiple":[59],"demonstrations":[61],"movement.":[65,164],"The":[66,147],"emphasis":[67],"paper":[70],"on":[72,118,180,195],"method":[74],"that":[75],"constrains":[76,137],"extracted":[78],"when":[81,140],"mapping":[82],"them":[83],"robot,":[86,106],"taking":[87],"into":[88],"account":[89],"critical":[91,145,148],"criterion":[92,132,142],"task.":[95],"As":[96],"practical":[98],"example":[99],"we":[100],"study":[101],"stability":[103],"determined":[109],"through":[110],"normalized":[112],"zero-moment-point.":[113],"approach":[115,171],"based":[117],"prioritized":[119],"control":[121],"allows":[123,172],"direct":[124,173],"transfer":[126],"as":[127,129],"long":[128],"selected":[131],"met.":[134],"It":[135],"only":[136],"approaches":[143],"condition.":[146],"condition":[149],"thus":[150],"triggers":[151],"reflexive,":[153],"subconscious":[154],"behavior,":[155],"has":[157],"higher":[158],"priority":[159],"than":[160],"desired,":[162],"conscious":[163],"Augmenting":[165],"imitation":[167],"with":[168],"proposed":[170],"imitation,":[175],"can":[177],"be":[178],"executed":[179],"at":[183],"ground":[185],"inclination":[186],"conditions.":[187],"We":[188],"demonstrate":[189],"real,":[197],"human-inspired":[198],"leg":[199],"developed":[201],"in":[202],"our":[203],"laboratory.":[204]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
