{"id":"https://openalex.org/W2792279016","doi":"https://doi.org/10.1109/robio.2017.8324707","title":"Generalization of task model using compliant movement primitives in a bimanual setting","display_name":"Generalization of task model using compliant movement primitives in a bimanual setting","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2792279016","doi":"https://doi.org/10.1109/robio.2017.8324707","mag":"2792279016"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5017208168","display_name":"Aleksandar Batinica","orcid":null},"institutions":[{"id":"https://openalex.org/I170726198","display_name":"University of Novi Sad","ror":"https://ror.org/00xa57a59","country_code":"RS","type":"education","lineage":["https://openalex.org/I170726198"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Aleksandar Batinica","raw_affiliation_strings":["Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia","institution_ids":["https://openalex.org/I170726198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020114289","display_name":"Bojan Nemec","orcid":"https://orcid.org/0000-0002-8728-7731"},"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":"Bojan Nemec","raw_affiliation_strings":["Dept. of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037378255","display_name":"Jos\u00e9 Santos-Victor","orcid":"https://orcid.org/0000-0002-9036-1728"},"institutions":[{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Santos-Victor","raw_affiliation_strings":["Vislab, Institute for Systems and Robots, Instituto Superior T\u00e9cnico, University Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vislab, Institute for Systems and Robots, Instituto Superior T\u00e9cnico, University Lisbon, Portugal","institution_ids":["https://openalex.org/I4387152517"]}]},{"author_position":"middle","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":false,"raw_author_name":"Andrej Gams","raw_affiliation_strings":["Dept. of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Automatics, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078929277","display_name":"Mirko Rakovi\u0107","orcid":"https://orcid.org/0000-0002-8818-2739"},"institutions":[{"id":"https://openalex.org/I170726198","display_name":"University of Novi Sad","ror":"https://ror.org/00xa57a59","country_code":"RS","type":"education","lineage":["https://openalex.org/I170726198"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT","RS"],"is_corresponding":false,"raw_author_name":"Mirko Rakovic","raw_affiliation_strings":["Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia","Vislab, Institute for Systems and Robots, Instituto Superior T\u00e9cnico, University Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia","institution_ids":["https://openalex.org/I170726198"]},{"raw_affiliation_string":"Vislab, Institute for Systems and Robots, Instituto Superior T\u00e9cnico, University Lisbon, Portugal","institution_ids":["https://openalex.org/I4387152517"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1967","last_page":"1972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"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":0.9961000084877014,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9686999917030334,"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":0.9639000296592712,"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/computer-science","display_name":"Computer science","score":0.7019400000572205},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6883921027183533},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6781171560287476},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6586930751800537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5955371260643005},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5163175463676453},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.49791669845581055},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4696924686431885},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.453829824924469},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40235084295272827},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3250046372413635},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31588393449783325},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16102588176727295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1419496238231659}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7019400000572205},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6883921027183533},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6781171560287476},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6586930751800537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5955371260643005},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5163175463676453},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.49791669845581055},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4696924686431885},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.453829824924469},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40235084295272827},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3250046372413635},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31588393449783325},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16102588176727295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1419496238231659},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1502712385","https://openalex.org/W1516801383","https://openalex.org/W1535570778","https://openalex.org/W1602991810","https://openalex.org/W1689445748","https://openalex.org/W1746819321","https://openalex.org/W1986621758","https://openalex.org/W2006573361","https://openalex.org/W2008418625","https://openalex.org/W2078763164","https://openalex.org/W2099322603","https://openalex.org/W2099915711","https://openalex.org/W2100993276","https://openalex.org/W2122827816","https://openalex.org/W2131404784","https://openalex.org/W2136719407","https://openalex.org/W2164450398","https://openalex.org/W2203369542","https://openalex.org/W2344260694","https://openalex.org/W2528845046","https://openalex.org/W2568497551","https://openalex.org/W2614308505","https://openalex.org/W2737024051","https://openalex.org/W2739168675","https://openalex.org/W2748528602","https://openalex.org/W2908402156","https://openalex.org/W2962769676","https://openalex.org/W4211049957","https://openalex.org/W6675251542","https://openalex.org/W6740861270"],"related_works":["https://openalex.org/W3162204513","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W2371138613","https://openalex.org/W4360995134","https://openalex.org/W2048963458","https://openalex.org/W4248382324","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"Compliant":[0],"Movement":[1,72],"Primitives":[2,73],"(CMPs)":[3],"showed":[4],"good":[5],"performance":[6],"for":[7],"a":[8,39,91,177,183],"desirable":[9],"behavior":[10,124,132],"of":[11,26,35,63,93,106,133,192],"robots":[12,187],"to":[13,165,176],"maintain":[14],"low":[15,115],"trajectory":[16,116,174],"error":[17],"while":[18,75],"being":[19],"compliant":[20,123],"without":[21],"knowing":[22],"the":[23,27,32,49,61,76,82,100,104,134,138,148,155,171,190,193],"dynamic":[24],"model":[25],"task.":[28],"This":[29,97],"framework":[30,102,144],"uses":[31],"integral":[33],"representation":[34],"reference":[36],"trajectories":[37,58],"in":[38,60,108,118,125],"feedback":[40],"loop":[41],"together":[42],"with":[43,147],"driving":[44],"joint":[45],"torques":[46,78],"that":[47,111,169],"represent":[48],"feed-forward":[50,77],"control":[51,139,150],"term.":[52],"To":[53,129],"achieve":[54,114,130],"CMPs":[55,107],"generalization,":[56],"refer-ence":[57],"(represented":[59],"form":[62],"task":[64,120,127,158,167,172],"space":[65,121,173],"position":[66],"trajectories)":[67],"are":[68,79,88,145],"encoded":[69],"as":[70,90],"Dynamic":[71],"(DMPs)":[74],"learned":[80,162],"through":[81,103],"Gaussian":[83],"Process":[84],"Regression":[85],"(GPR)":[86],"and":[87,122,163,175],"represented":[89],"combination":[92],"radial":[94],"basis":[95],"functions.":[96],"paper":[98],"extends":[99],"existing":[101],"generalization":[105],"bimanual":[109,135,157,184],"settings":[110],"can":[112,160],"concurrently":[113],"errors":[117],"relative":[119],"absolute":[126],"space.":[128],"this":[131],"robotic":[136],"system,":[137],"terms":[140],"derived":[141],"from":[142],"CMP":[143],"extended":[146,194],"symmetric":[149],"approach.":[151],"We":[152],"show":[153],"how":[154],"task-specific":[156],"dynamics":[159],"be":[161],"generalized":[164],"different":[166,178],"parameters":[168],"influence":[170],"load.":[179],"Real-world":[180],"results":[181],"on":[182],"Kuka":[185],"LWR-4":[186],"configuration":[188],"confirms":[189],"usability":[191],"framework.":[195]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}