{"id":"https://openalex.org/W4312497853","doi":"https://doi.org/10.1109/tcds.2022.3231092","title":"Path Learning by Demonstration for Iterative Human\u2013Robot Interaction With Uncertain Time Durations","display_name":"Path Learning by Demonstration for Iterative Human\u2013Robot Interaction With Uncertain Time Durations","publication_year":2022,"publication_date":"2022-12-21","ids":{"openalex":"https://openalex.org/W4312497853","doi":"https://doi.org/10.1109/tcds.2022.3231092"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3231092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3231092","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Path_learning_by_demonstration_for_iterative_human-robot_interaction_with_uncertain_time_durations/23493791","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032642266","display_name":"Deqing Huang","orcid":"https://orcid.org/0000-0002-8185-9030"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Deqing Huang","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037388867","display_name":"Jingkang Xia","orcid":"https://orcid.org/0000-0003-0267-4490"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingkang Xia","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068314504","display_name":"Chenjian Song","orcid":"https://orcid.org/0000-0003-4516-3447"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenjian Song","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000973984","display_name":"Xueyan Xing","orcid":"https://orcid.org/0000-0002-6937-4348"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xueyan Xing","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082520195","display_name":"Yanan Li","orcid":"https://orcid.org/0000-0002-1443-2547"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanan Li","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032642266"],"corresponding_institution_ids":["https://openalex.org/I4800084"],"apc_list":null,"apc_paid":null,"fwci":0.7291,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.70014587,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"16","issue":"2","first_page":"436","last_page":"447"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.989799976348877,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.989799976348877,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9656999707221985,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9564999938011169,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.8703771829605103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7215514183044434},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6256080865859985},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5442765355110168},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5203911066055298},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5152149796485901},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5142449736595154},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43644165992736816},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4334057569503784},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4219374358654022},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4184831380844116},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20750880241394043}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8703771829605103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7215514183044434},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6256080865859985},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5442765355110168},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5203911066055298},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5152149796485901},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5142449736595154},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43644165992736816},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4334057569503784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4219374358654022},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4184831380844116},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20750880241394043},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcds.2022.3231092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3231092","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},{"id":"pmh:oai:figshare.com:article/23493791","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Path_learning_by_demonstration_for_iterative_human-robot_interaction_with_uncertain_time_durations/23493791","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:sro.sussex.ac.uk:109744","is_oa":false,"landing_page_url":"http://sro.sussex.ac.uk/id/eprint/109744/1/TCDS_final.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400129","display_name":"Sussex Research Online (University of Sussex)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162608824","host_organization_name":"University of Sussex","host_organization_lineage":["https://openalex.org/I162608824"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/23493791","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Path_learning_by_demonstration_for_iterative_human-robot_interaction_with_uncertain_time_durations/23493791","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1325515243","display_name":null,"funder_award_id":"2021JDJQ0012","funder_id":"https://openalex.org/F4320333335","funder_display_name":"Sichuan Province Science and Technology Support Program"},{"id":"https://openalex.org/G3616454161","display_name":null,"funder_award_id":"U21A20169","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4065389682","display_name":null,"funder_award_id":"U1934221","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4329509974","display_name":null,"funder_award_id":"2020YFQ0057","funder_id":"https://openalex.org/F4320333335","funder_display_name":"Sichuan Province Science and Technology Support Program"},{"id":"https://openalex.org/G5737479545","display_name":null,"funder_award_id":"EP/T006951/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8572893347","display_name":"The Game Theory of Human-Robot Interaction","funder_award_id":"EP/T006951/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320333335","display_name":"Sichuan Province Science and Technology Support Program","ror":null},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1065174047","https://openalex.org/W1919139235","https://openalex.org/W1981815942","https://openalex.org/W2041242313","https://openalex.org/W2063182199","https://openalex.org/W2065676327","https://openalex.org/W2070922220","https://openalex.org/W2095431270","https://openalex.org/W2111800554","https://openalex.org/W2121151459","https://openalex.org/W2139764745","https://openalex.org/W2148333391","https://openalex.org/W2153764705","https://openalex.org/W2159038290","https://openalex.org/W2162797581","https://openalex.org/W2280090643","https://openalex.org/W2312797433","https://openalex.org/W2604412822","https://openalex.org/W2605661021","https://openalex.org/W2766253253","https://openalex.org/W2784881541","https://openalex.org/W2795550549","https://openalex.org/W2805434138","https://openalex.org/W2884388813","https://openalex.org/W2912583594","https://openalex.org/W2948417090","https://openalex.org/W2969773228","https://openalex.org/W3003975815","https://openalex.org/W3011870587","https://openalex.org/W3020875384","https://openalex.org/W3034032729","https://openalex.org/W3092948749","https://openalex.org/W3105789002","https://openalex.org/W3118688377","https://openalex.org/W4211008118"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2362901947","https://openalex.org/W2362086884","https://openalex.org/W1606071314","https://openalex.org/W2350210972","https://openalex.org/W2369126164","https://openalex.org/W1500588313","https://openalex.org/W3105789002"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,14,28,37,72,136],"path":[4,30],"learning":[5,17],"method":[6],"through":[7,36],"physical":[8,42],"human-robot":[9],"interaction":[10],"(pHRI)":[11],"based":[12,76],"on":[13,77,101,130,135],"stretch-compression":[15],"iterative":[16],"control":[18,106,112,119],"(ILC)":[19],"scheme":[20,75],"and":[21,40,60,79,117,147],"contouring":[22],"impedance":[23,111],"control.":[24],"The":[25],"robot":[26,139],"learns":[27],"task":[29,107],"desired":[31],"by":[32],"the":[33,45,53,56,62,86,90,95,102,105,114,121,127,131,145,150],"human":[34,46,57,128],"user":[35,47,129],"kinaesthetic":[38],"interface":[39],"provides":[41],"assistance":[43],"to":[44,52,84,98,143],"in":[48,113,120],"repetitive":[49],"interactions.":[50],"Due":[51],"uncertainty":[54],"of":[55,65,89,149],"user\u2019s":[58],"force":[59],"motion,":[61],"time":[63],"duration":[64],"each":[66,99],"iteration":[67],"may":[68],"be":[69],"different,":[70],"so":[71],"novel":[73],"ILC":[74],"stretch":[78],"compression":[80],"operation":[81],"is":[82,108],"proposed":[83,151],"update":[85],"reference":[87,103,132],"trajectory":[88],"robotic":[91],"manipulator.":[92],"By":[93],"attaching":[94],"Frenet-Serret":[96],"frame":[97],"point":[100],"path,":[104],"decomposed":[109],"into":[110],"tangential":[115],"direction":[116,125],"position":[118],"normal":[122],"or":[123],"binormal":[124],"constraining":[126],"path.":[133],"Experiments":[134],"7-DOF":[137],"Sawyer":[138],"are":[140],"carried":[141],"out":[142],"show":[144],"effectiveness":[146],"robustness":[148],"method.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}