{"id":"https://openalex.org/W2078763164","doi":"https://doi.org/10.1109/tro.2014.2304775","title":"Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks","display_name":"Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks","publication_year":2014,"publication_date":"2014-02-26","ids":{"openalex":"https://openalex.org/W2078763164","doi":"https://doi.org/10.1109/tro.2014.2304775","mag":"2078763164"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2014.2304775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2304775","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/202081","any_repository_has_fulltext":true},"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":false,"raw_author_name":"Andrej Gams","raw_affiliation_strings":["Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","Humanoid and Cognitive Robotics Lab, Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Humanoid and Cognitive Robotics Lab, Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"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":["Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","Humanoid and Cognitive Robotics Lab, Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Humanoid and Cognitive Robotics Lab, Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Jan Ijspeert","raw_affiliation_strings":["Biorobotics Laboratory, Institute of Bioengineering, Lausanne, Switzerland","[Biorobotics Laboratory Institute of Bioengineering, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics Laboratory, Institute of Bioengineering, Lausanne, Switzerland","institution_ids":[]},{"raw_affiliation_string":"[Biorobotics Laboratory Institute of Bioengineering, Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland]","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019399129","display_name":"Ale\u0161 Ude","orcid":"https://orcid.org/0000-0003-3677-3972"},"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":"Ales Ude","raw_affiliation_strings":["Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","Humanoid and Cognitive Robotics Lab, Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Humanoid and Cognitive Robotics Lab, Department of Automatics, Biocybernetics and Robotics, Jo\u017eef Stean Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.3575,"has_fulltext":false,"cited_by_count":211,"citation_normalized_percentile":{"value":0.99531774,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"30","issue":"4","first_page":"816","last_page":"830"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9973000288009644,"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":0.9973000288009644,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9819999933242798,"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":0.978600025177002,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7260725498199463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7009603977203369},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.6976220011711121},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6680815815925598},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5832117199897766},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5784856081008911},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.562204897403717},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5600268244743347},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.5584020018577576},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5549248456954956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.547960638999939},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40848416090011597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3209719955921173},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1913263201713562},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1877918839454651},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0838407576084137}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7260725498199463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7009603977203369},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.6976220011711121},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6680815815925598},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5832117199897766},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5784856081008911},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.562204897403717},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5600268244743347},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.5584020018577576},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5549248456954956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.547960638999939},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40848416090011597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3209719955921173},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1913263201713562},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1877918839454651},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0838407576084137},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical 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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2014.2304775","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2014.2304775","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:202081","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/202081","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:202081","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/202081","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1516801383","https://openalex.org/W1540541511","https://openalex.org/W1967377907","https://openalex.org/W1976536305","https://openalex.org/W1977013839","https://openalex.org/W1978023077","https://openalex.org/W1982486572","https://openalex.org/W1990654347","https://openalex.org/W1995086487","https://openalex.org/W1998433008","https://openalex.org/W2003155905","https://openalex.org/W2004409499","https://openalex.org/W2010953845","https://openalex.org/W2011537988","https://openalex.org/W2019048916","https://openalex.org/W2034173299","https://openalex.org/W2041242313","https://openalex.org/W2047191624","https://openalex.org/W2060781381","https://openalex.org/W2060914855","https://openalex.org/W2066162642","https://openalex.org/W2069324174","https://openalex.org/W2069361969","https://openalex.org/W2085444192","https://openalex.org/W2094697883","https://openalex.org/W2105070643","https://openalex.org/W2110304639","https://openalex.org/W2111528514","https://openalex.org/W2113698995","https://openalex.org/W2115166552","https://openalex.org/W2116226448","https://openalex.org/W2118459920","https://openalex.org/W2125612430","https://openalex.org/W2129999383","https://openalex.org/W2136719407","https://openalex.org/W2138901013","https://openalex.org/W2139704669","https://openalex.org/W2148163433","https://openalex.org/W2148590777","https://openalex.org/W2154543878","https://openalex.org/W2154865050","https://openalex.org/W2159038290","https://openalex.org/W2160525194","https://openalex.org/W2160609165","https://openalex.org/W2161344171","https://openalex.org/W2161872510","https://openalex.org/W2180051414","https://openalex.org/W2540104143","https://openalex.org/W4254005064","https://openalex.org/W6676348739"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W2077790809","https://openalex.org/W2906246018"],"abstract_inverted_index":{"The":[0],"framework":[1,37,64,171],"of":[2,14,48,87,98,147,172],"dynamic":[3,59],"movement":[4],"primitives":[5],"(DMPs)":[6],"contains":[7],"many":[8],"favorable":[9,178],"properties":[10],"for":[11,157],"the":[12,27,32,36,45,49,56,63,81,84,92,96,121,131,136,163,170,177],"execution":[13,97],"robotic":[15,90],"trajectories,":[16,34,91],"such":[17],"as":[18],"indirect":[19],"dependence":[20],"on":[21,169],"time,":[22],"response":[23],"to":[24,29,44,58,112,120,135],"perturbations,":[25],"and":[26,70,80,100,145,149,160,186],"ability":[28],"easily":[30],"modulate":[31],"given":[33],"but":[35],"in":[38,124,133,187],"its":[39],"original":[40,122],"form":[41],"remains":[42],"constrained":[43],"kinematic":[46],"aspect":[47],"movement.":[50],"In":[51],"this":[52],"paper,":[53],"we":[54,174],"bridge":[55],"gap":[57],"behavior":[60],"by":[61],"extending":[62],"with":[65,78,162,183],"force/torque":[66],"feedback.":[67],"We":[68,105],"propose":[69],"evaluate":[71],"a":[72,114,125,188],"modulation":[73,185],"approach":[74,93],"that":[75],"allows":[76],"interaction":[77,161],"objects":[79],"environment.":[82],"Through":[83],"proposed":[85],"coupling":[86,115],"originally":[88],"independent":[89],"also":[94],"enables":[95],"bimanual":[99,158],"tightly":[101],"coupled":[102],"cooperative":[103],"tasks.":[104],"apply":[106],"an":[107],"iterative":[108],"learning":[109],"control":[110],"algorithm":[111],"learn":[113],"term,":[116],"which":[117,180],"is":[118,181],"applied":[119],"trajectory":[123,132],"feed-forward":[126],"fashion":[127],"and,":[128],"thus,":[129],"modifies":[130],"accordance":[134],"desired":[137],"positions":[138],"or":[139],"external":[140],"forces.":[141],"A":[142],"stability":[143],"analysis":[144],"results":[146],"simulated":[148],"real-world":[150],"experiments":[151],"using":[152],"two":[153],"KUKA":[154],"LWR":[155],"arms":[156],"tasks":[159],"environment":[164],"are":[165],"presented.":[166],"By":[167],"expanding":[168],"DMPs,":[173],"keep":[175],"all":[176],"properties,":[179],"demonstrated":[182],"temporal":[184],"two-agent":[189],"obstacle":[190],"avoidance":[191],"task.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":17},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":20},{"year":2017,"cited_by_count":22},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
