{"id":"https://openalex.org/W2113698995","doi":"https://doi.org/10.1109/robot.2009.5152423","title":"Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance","display_name":"Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2113698995","doi":"https://doi.org/10.1109/robot.2009.5152423","mag":"2113698995"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5103394599","display_name":"H. Hoffmann","orcid":"https://orcid.org/0000-0003-3817-5626"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Heiko Hoffmann","raw_affiliation_strings":["Department of Computer Science, University of Southern California, USA","Department of Biomedical Engineering at USC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Department of Biomedical Engineering at USC, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103760848","display_name":"Peter P\u00e1stor","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Pastor","raw_affiliation_strings":["Department of Computer Science, University of Southern California, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062206291","display_name":"Dae-Hyung Park","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dae-Hyung Park","raw_affiliation_strings":["Department of Computer Science, University of Southern California, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029642293","display_name":"Stefan Schaal","orcid":"https://orcid.org/0000-0001-5660-1874"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Department of Computer Science, University of Southern California, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103394599"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":34.605,"has_fulltext":false,"cited_by_count":280,"citation_normalized_percentile":{"value":0.99790853,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2587","last_page":"2592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.9988999962806702,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9959999918937683,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.7689054012298584},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5892916917800903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5651114583015442},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387921929359436},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5076969861984253},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4942150413990021},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.48659074306488037},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4629669189453125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4494374692440033},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.41767898201942444},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3129660189151764},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2933036684989929},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10743853449821472},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08826658129692078},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08254832029342651}],"concepts":[{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.7689054012298584},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5892916917800903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5651114583015442},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387921929359436},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5076969861984253},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4942150413990021},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.48659074306488037},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4629669189453125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4494374692440033},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.41767898201942444},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3129660189151764},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2933036684989929},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10743853449821472},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08826658129692078},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08254832029342651},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1955308247","https://openalex.org/W1971609423","https://openalex.org/W2029428797","https://openalex.org/W2103120971","https://openalex.org/W2110304639","https://openalex.org/W2113968856","https://openalex.org/W2117151438","https://openalex.org/W2123967136","https://openalex.org/W2127515439","https://openalex.org/W2128458185","https://openalex.org/W2149192758","https://openalex.org/W2164032318","https://openalex.org/W6678157427","https://openalex.org/W6682150299"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W1991876829","https://openalex.org/W2295425790","https://openalex.org/W4245687327","https://openalex.org/W2088677124","https://openalex.org/W2122369027","https://openalex.org/W1974803039","https://openalex.org/W113490245"],"abstract_inverted_index":{"Dynamical":[0],"systems":[1],"can":[2,34,49],"generate":[3],"movement":[4,21,52],"trajectories":[5],"that":[6],"are":[7],"robust":[8],"against":[9,98],"perturbations.":[10],"This":[11,117],"article":[12],"presents":[13],"an":[14,100,115],"improved":[15],"modification":[16],"of":[17,62,129],"the":[18,46,60,89,96,106,111,127,133,144],"original":[19],"dynamic":[20],"primitive":[22],"(DMP)":[23],"framework":[24],"by":[25,94],"Ijspeert":[26],"et":[27],"al":[28],"[1],":[29],"[2].":[30],"The":[31],"new":[32,38,47],"equations":[33,48,108],"generalize":[35],"movements":[36],"to":[37,91,105,109],"targets":[39],"without":[40,57],"singularities":[41],"and":[42,82,154],"large":[43],"accelerations.":[44],"Furthermore,":[45],"represent":[50],"a":[51,140,147],"in":[53,80],"3D":[54],"task":[55],"space":[56],"depending":[58],"on":[59],"choice":[61],"coordinate":[63],"system":[64],"(invariance":[65],"under":[66],"invertible":[67],"affine":[68],"transformations).":[69],"Our":[70],"modified":[71],"DMP":[72],"is":[73,103],"motivated":[74],"from":[75],"biological":[76],"data":[77],"(spinal-cord":[78],"stimulation":[79],"frogs)":[81],"human":[83,122],"behavioral":[84],"experiments.":[85],"We":[86,125],"further":[87],"extend":[88],"formalism":[90],"obstacle":[92,123],"avoidance":[93],"exploiting":[95],"robustness":[97],"perturbations:":[99],"additional":[101,118],"term":[102,119],"added":[104],"differential":[107],"make":[110],"robot":[112,136,145],"steer":[113],"around":[114],"obstacle.":[116],"empirically":[120],"describes":[121],"avoidance.":[124],"demonstrate":[126],"feasibility":[128],"our":[130],"approach":[131],"using":[132],"Sarcos":[134],"Slave":[135],"arm:":[137],"after":[138],"learning":[139],"single":[141],"placing":[142],"movement,":[143],"placed":[146],"cup":[148],"between":[149],"two":[150],"arbitrarily":[151],"given":[152],"positions":[153],"avoided":[155],"approaching":[156],"obstacles.":[157]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":24},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":15},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":17}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}