{"id":"https://openalex.org/W2156321584","doi":"https://doi.org/10.1109/tsmcb.2009.2026289","title":"Impedance Learning for Robotic Contact Tasks Using Natural Actor-Critic Algorithm","display_name":"Impedance Learning for Robotic Contact Tasks Using Natural Actor-Critic Algorithm","publication_year":2009,"publication_date":"2009-08-21","ids":{"openalex":"https://openalex.org/W2156321584","doi":"https://doi.org/10.1109/tsmcb.2009.2026289","mag":"2156321584","pmid":"https://pubmed.ncbi.nlm.nih.gov/19696001"},"language":"en","primary_location":{"id":"doi:10.1109/tsmcb.2009.2026289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2009.2026289","pdf_url":null,"source":{"id":"https://openalex.org/S4210170378","display_name":"IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)","issn_l":"1083-4419","issn":["1083-4419","1941-0492"],"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 Systems, Man, and Cybernetics, Part B (Cybernetics)","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5022216425","display_name":"Byungchan Kim","orcid":"https://orcid.org/0000-0001-5144-7644"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Byungchan Kim","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea. bckim81@gmail.com","Center of Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea. bckim81@gmail.com","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center of Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100644682","display_name":"Jooyoung Park","orcid":"https://orcid.org/0000-0002-8949-593X"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jooyoung Park","raw_affiliation_strings":["Department of Control and Instrumentation Engineering, Korea University, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Control and Instrumentation Engineering, Korea University, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061319954","display_name":"Shinsuk Park","orcid":"https://orcid.org/0000-0003-3714-1061"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Shinsuk Park","raw_affiliation_strings":["School of Mechanical Engineering, Korea University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090053037","display_name":"Sungchul Kang","orcid":"https://orcid.org/0000-0001-5645-2020"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungchul Kang","raw_affiliation_strings":["Center of Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Center of Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022216425"],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":6.1065,"has_fulltext":false,"cited_by_count":103,"citation_normalized_percentile":{"value":0.96404938,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"40","issue":"2","first_page":"433","last_page":"443"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9947999715805054,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9947999715805054,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9941999912261963,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.983299970626831,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/impedance-control","display_name":"Impedance control","score":0.778223991394043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6228632926940918},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5877540707588196},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5721338391304016},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5072593092918396},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46759480237960815},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4599025249481201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45413997769355774},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42782342433929443},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34583330154418945},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1854594647884369},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17782816290855408},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12430590391159058}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.778223991394043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6228632926940918},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5877540707588196},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5721338391304016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5072593092918396},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46759480237960815},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4599025249481201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45413997769355774},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42782342433929443},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34583330154418945},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1854594647884369},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17782816290855408},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12430590391159058},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008959","descriptor_name":"Models, Neurological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008959","descriptor_name":"Models, Neurological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008959","descriptor_name":"Models, Neurological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009043","descriptor_name":"Motor Activity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009043","descriptor_name":"Motor Activity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009043","descriptor_name":"Motor Activity","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000592","qualifier_name":"standards","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000592","qualifier_name":"standards","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000592","qualifier_name":"standards","is_major_topic":false},{"descriptor_ui":"D013269","descriptor_name":"Stochastic Processes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013269","descriptor_name":"Stochastic Processes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D013269","descriptor_name":"Stochastic Processes","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016018","descriptor_name":"Least-Squares Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016018","descriptor_name":"Least-Squares Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016018","descriptor_name":"Least-Squares Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmcb.2009.2026289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2009.2026289","pdf_url":null,"source":{"id":"https://openalex.org/S4210170378","display_name":"IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)","issn_l":"1083-4419","issn":["1083-4419","1941-0492"],"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 Systems, Man, and Cybernetics, Part B (Cybernetics)","raw_type":"journal-article"},{"id":"pmid:19696001","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/19696001","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W100327610","https://openalex.org/W1515851193","https://openalex.org/W1562327279","https://openalex.org/W1566185995","https://openalex.org/W1594783240","https://openalex.org/W1597303641","https://openalex.org/W1601081659","https://openalex.org/W1602659231","https://openalex.org/W1754204421","https://openalex.org/W1885639605","https://openalex.org/W1954012305","https://openalex.org/W1970789124","https://openalex.org/W1986984034","https://openalex.org/W2009303086","https://openalex.org/W2046329526","https://openalex.org/W2064527819","https://openalex.org/W2074053807","https://openalex.org/W2098165468","https://openalex.org/W2112995122","https://openalex.org/W2117726420","https://openalex.org/W2119717200","https://openalex.org/W2119850686","https://openalex.org/W2121863487","https://openalex.org/W2127107099","https://openalex.org/W2128826714","https://openalex.org/W2132849848","https://openalex.org/W2132987389","https://openalex.org/W2134569556","https://openalex.org/W2134882417","https://openalex.org/W2145830976","https://openalex.org/W2147586027","https://openalex.org/W2148365449","https://openalex.org/W2149645942","https://openalex.org/W2151850216","https://openalex.org/W2155027007","https://openalex.org/W2156737235","https://openalex.org/W2166310857","https://openalex.org/W2170396314","https://openalex.org/W2171080843","https://openalex.org/W2172968643","https://openalex.org/W2228437652","https://openalex.org/W2487144912","https://openalex.org/W2569641373","https://openalex.org/W2599973969","https://openalex.org/W4214717370","https://openalex.org/W4241521318","https://openalex.org/W6633895951","https://openalex.org/W6635508374","https://openalex.org/W6635767209","https://openalex.org/W6646985475","https://openalex.org/W6679573073","https://openalex.org/W6679599195","https://openalex.org/W6682249684"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2314048082","https://openalex.org/W1548357495","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119"],"abstract_inverted_index":{"Compared":[0],"with":[1],"their":[2,12],"robotic":[3,43],"counterparts,":[4],"humans":[5],"excel":[6],"at":[7],"various":[8,110],"tasks":[9,28,45,127],"by":[10],"using":[11],"ability":[13,21],"to":[14,24,74,92],"adaptively":[15],"modulate":[16],"arm":[17],"impedance":[18,62,77,96],"parameters.":[19,97],"This":[20,33],"allows":[22],"us":[23],"successfully":[25],"perform":[26],"contact":[27,44,80,111,126],"even":[29],"in":[30,128],"uncertain":[31,129],"environments.":[32],"paper":[34],"considers":[35],"a":[36,48],"learning":[37,55,59,73],"strategy":[38],"of":[39,100,109,124,131],"motor":[40,50],"skill":[41],"for":[42,79],"based":[46,64],"on":[47,65],"human":[49],"control":[51,63,69],"theory":[52,70],"and":[53,71],"machine":[54],"schemes.":[56],"Our":[57],"robot":[58],"method":[60,103,120],"employs":[61],"the":[66,76,94,101,118,122,125,132],"equilibrium":[67],"point":[68],"reinforcement":[72],"determine":[75],"parameters":[78],"tasks.":[81,112],"A":[82],"recursive":[83],"least-square":[84],"filter-based":[85],"episodic":[86],"natural":[87],"actor-critic":[88],"algorithm":[89],"is":[90],"used":[91],"find":[93],"optimal":[95],"The":[98,113],"effectiveness":[99],"proposed":[102,119],"was":[104],"tested":[105],"through":[106],"dynamic":[107],"simulations":[108],"simulation":[114],"results":[115],"demonstrated":[116],"that":[117],"optimizes":[121],"performance":[123],"conditions":[130],"environment.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":10},{"year":2012,"cited_by_count":7}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}