{"id":"https://openalex.org/W4317382681","doi":"https://doi.org/10.1109/robio55434.2022.10011841","title":"Effective Learning and Online Modulation for Robotic Variable Impedance Skills","display_name":"Effective Learning and Online Modulation for Robotic Variable Impedance Skills","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317382681","doi":"https://doi.org/10.1109/robio55434.2022.10011841"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011841","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011841","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5036284580","display_name":"Xueqian Zhai","orcid":null},"institutions":[{"id":"https://openalex.org/I4210151615","display_name":"Wuyi University","ror":"https://ror.org/0488wz367","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151615"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]},{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xueqian Zhai","raw_affiliation_strings":["Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","Wuyi University, Jiangmen, China","Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"Wuyi University, Jiangmen, China","institution_ids":["https://openalex.org/I4210151615"]},{"raw_affiliation_string":"Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029683895","display_name":"Yangmin Ou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangmin Ou","raw_affiliation_strings":["Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073609666","display_name":"Zhihao Xu","orcid":"https://orcid.org/0000-0003-1344-9731"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]},{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihao Xu","raw_affiliation_strings":["Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392353","display_name":"Li Jiang","orcid":"https://orcid.org/0000-0001-7058-6957"},"institutions":[{"id":"https://openalex.org/I4210151615","display_name":"Wuyi University","ror":"https://ror.org/0488wz367","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210151615"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Jiang","raw_affiliation_strings":["Wuyi University,Jiangmen,China","Wuyi University, Jiangmen, China"],"affiliations":[{"raw_affiliation_string":"Wuyi University,Jiangmen,China","institution_ids":["https://openalex.org/I4210151615"]},{"raw_affiliation_string":"Wuyi University, Jiangmen, China","institution_ids":["https://openalex.org/I4210151615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101588754","display_name":"Xuefeng Zhou","orcid":"https://orcid.org/0000-0003-1642-2059"},"institutions":[{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefeng Zhou","raw_affiliation_strings":["Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China","Pazhou Lab, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]},{"raw_affiliation_string":"Pazhou Lab, Guangzhou, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040144876","display_name":"Hongmin Wu","orcid":"https://orcid.org/0000-0001-8517-5296"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]},{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongmin Wu","raw_affiliation_strings":["Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China","Pazhou Lab, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing,Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","institution_ids":["https://openalex.org/I4210142539"]},{"raw_affiliation_string":"Guangdong Academy of Sciences, Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]},{"raw_affiliation_string":"Pazhou Lab, Guangzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5036284580"],"corresponding_institution_ids":["https://openalex.org/I4210103524","https://openalex.org/I4210142539","https://openalex.org/I4210151615"],"apc_list":null,"apc_paid":null,"fwci":0.7078,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68169869,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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":0.9675999879837036,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9664999842643738,"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":0.6302767395973206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5991138815879822},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5255975723266602},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5033161044120789},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.44601303339004517},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42978575825691223},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.41168057918548584},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4073948860168457},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3240193724632263}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6302767395973206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5991138815879822},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5255975723266602},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5033161044120789},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.44601303339004517},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42978575825691223},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.41168057918548584},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4073948860168457},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3240193724632263},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011841","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011841","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G7249222676","display_name":null,"funder_award_id":"62203126","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2100993276","https://openalex.org/W2214212631","https://openalex.org/W2562106483","https://openalex.org/W2735021678","https://openalex.org/W2765218414","https://openalex.org/W2797679738","https://openalex.org/W2885414200","https://openalex.org/W2913939945","https://openalex.org/W2964319110","https://openalex.org/W2965133842","https://openalex.org/W2976205474","https://openalex.org/W2978088897","https://openalex.org/W2994446013","https://openalex.org/W3003534191","https://openalex.org/W3009632987","https://openalex.org/W3014528623","https://openalex.org/W3046748421","https://openalex.org/W3104787446","https://openalex.org/W3130985948","https://openalex.org/W3133750590","https://openalex.org/W3154016186","https://openalex.org/W3157327332","https://openalex.org/W3158638107","https://openalex.org/W3196304306","https://openalex.org/W3215403832","https://openalex.org/W4205285249","https://openalex.org/W6768977599"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W2139876914","https://openalex.org/W1986738380","https://openalex.org/W2642061445","https://openalex.org/W1964286703","https://openalex.org/W2169866437","https://openalex.org/W3056417032"],"abstract_inverted_index":{"Learning":[0],"robot":[1,100,220,258],"manipulation":[2,251],"skills":[3,252],"from":[4,144],"human":[5,206],"demonstration":[6],"is":[7,103,137,172,222,231],"one":[8],"of":[9,55,70,84,99,123,257],"the":[10,14,18,44,49,56,76,82,114,121,149,177,181,217,226,245,255],"key":[11],"technologies":[12],"for":[13,140,224],"cooperative":[15],"robot.":[16],"However,":[17],"traditional":[19],"learning":[20,86,102,125,141],"methods":[21,78],"are":[22,79,196],"difficult":[23,89],"to":[24,28,66,174,180],"be":[25,152],"rapidly":[26],"applied":[27],"complex":[29,261],"force":[30,262],"interaction":[31,263],"tasks":[32],"such":[33,147,187],"as":[34,188],"button-pressing,":[35],"assembly,":[36],"polishing,":[37],"etc,":[38],"which":[39,108],"mainly":[40],"focus":[41],"on":[42,233],"acquiring":[43],"movement":[45,115],"skill":[46,101,150,209],"by":[47,198,205],"encoding":[48],"kinematics":[50],"features":[51],"and":[52,60,73,88,116,126,163,185,219,253],"lacking":[53],"consideration":[54],"interactive":[57],"force,":[58],"stiffness,":[59],"other":[61],"compliant":[62,117,227],"profiles.":[63,228],"Meanwhile,":[64],"due":[65],"a":[67,96,130,167,212,234,238],"large":[68],"amount":[69],"high-dimensional":[71],"demonstrations":[72],"task":[74,236],"constraints,":[75],"existing":[77],"faced":[80],"with":[81,154,237],"problems":[83],"low":[85],"efficiency":[87],"online":[90,127],"modulation.":[91,128],"To":[92],"address":[93],"those":[94],"problems,":[95],"novel":[97],"framework":[98,247],"presented":[104,246],"in":[105,260],"this":[106],"paper,":[107],"not":[109],"only":[110],"can":[111,151,248],"simultaneously":[112],"consider":[113],"profiles":[118],"but":[119],"also":[120],"implementation":[122],"effective":[124],"Specifically,":[129],"Gaussian":[131,170],"Mixture":[132,134],"Model-Gaussian":[133],"Regression":[135],"(GMM-GMR)":[136],"first":[138],"proposed":[139,173],"underlying":[142],"dynamics":[143],"demonstrated":[145],"trajectories,":[146],"that":[148,244],"formulated":[153],"two":[155],"parameters":[156],"at":[157],"each":[158],"time":[159],"step,":[160],"i.e.":[161],"mean":[162],"variance.":[164],"And":[165],"then,":[166],"GMMGMR-based":[168],"vector-valued":[169],"Process":[171],"autonomously":[175],"modulate":[176],"trajectory":[178],"according":[179],"unexpected":[182],"environmental":[183],"changes":[184],"perturbations,":[186],"unseen":[189],"start-,":[190],"via-":[191],"or":[192],"end-points.":[193],"Those":[194],"points":[195],"introduced":[197],"an":[199],"external-force":[200],"aware":[201],"variable":[202],"impedance":[203],"controller":[204],"intervention":[207],"during":[208],"reproduction.":[210],"Consequently,":[211],"nonlinear":[213],"mapping":[214],"relationship":[215],"between":[216],"variance":[218],"stiffness":[221],"investigated":[223],"encapsulating":[225],"Experimental":[229],"verification":[230],"performed":[232],"button-pressing":[235],"Franka-Emika":[239],"panda":[240],"robot,":[241],"results":[242],"indicate":[243],"learn":[249],"humanlike":[250],"reduce":[254],"complexity":[256],"application":[259],"tasks.":[264]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}