{"id":"https://openalex.org/W2592007507","doi":"https://doi.org/10.1145/2909824.3020254","title":"A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms","display_name":"A Motion Retargeting Method for Effective Mimicry-based Teleoperation of Robot Arms","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2592007507","doi":"https://doi.org/10.1145/2909824.3020254","mag":"2592007507"},"language":"en","primary_location":{"id":"doi:10.1145/2909824.3020254","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2909824.3020254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction","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/A5006252401","display_name":"Daniel Rakita","orcid":"https://orcid.org/0000-0001-6292-8515"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Rakita","raw_affiliation_strings":["University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017344436","display_name":"Bilge Mutlu","orcid":"https://orcid.org/0000-0002-9456-1495"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilge Mutlu","raw_affiliation_strings":["University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084778474","display_name":"Michael Gleicher","orcid":"https://orcid.org/0000-0003-3295-4071"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Gleicher","raw_affiliation_strings":["University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135310074"],"apc_list":null,"apc_paid":null,"fwci":6.1069,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.96837814,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"361","last_page":"370"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9987999796867371,"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/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/computer-science","display_name":"Computer science","score":0.6881445646286011},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6278284192085266},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5892762541770935},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5567973256111145},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5314276218414307},{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.5138711929321289},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5061888098716736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5053485035896301},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49232017993927},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48477238416671753},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4524742662906647},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4402908682823181},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43428370356559753},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42739975452423096},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3841235637664795},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.16191425919532776}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6881445646286011},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6278284192085266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5892762541770935},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5567973256111145},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5314276218414307},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.5138711929321289},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5061888098716736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5053485035896301},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49232017993927},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48477238416671753},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4524742662906647},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4402908682823181},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43428370356559753},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42739975452423096},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3841235637664795},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16191425919532776},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2909824.3020254","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2909824.3020254","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2017 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1872909839","display_name":"NRI-Small: Perceptually Inspired Dynamics for Robot Arm Motion","funder_award_id":"1208632","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1444114573","https://openalex.org/W1561390022","https://openalex.org/W1564293150","https://openalex.org/W1729873854","https://openalex.org/W1791587663","https://openalex.org/W1967390389","https://openalex.org/W1983885373","https://openalex.org/W1986081132","https://openalex.org/W2016336884","https://openalex.org/W2037841262","https://openalex.org/W2049410986","https://openalex.org/W2051277853","https://openalex.org/W2060619573","https://openalex.org/W2070328658","https://openalex.org/W2077544344","https://openalex.org/W2087441489","https://openalex.org/W2095714487","https://openalex.org/W2101644100","https://openalex.org/W2105925198","https://openalex.org/W2109026728","https://openalex.org/W2113260111","https://openalex.org/W2113972270","https://openalex.org/W2131861451","https://openalex.org/W2134615047","https://openalex.org/W2135464393","https://openalex.org/W2137267908","https://openalex.org/W2142614345","https://openalex.org/W2146475250","https://openalex.org/W2149985621","https://openalex.org/W2158794687","https://openalex.org/W2167971611","https://openalex.org/W2170395719","https://openalex.org/W2205340216","https://openalex.org/W2552912227","https://openalex.org/W2623660146","https://openalex.org/W2770202429","https://openalex.org/W4240721812"],"related_works":["https://openalex.org/W33982163","https://openalex.org/W2070736631","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W3047523153","https://openalex.org/W4226342200","https://openalex.org/W1253671258","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W2172144564"],"abstract_inverted_index":{"In":[0],"this":[1,141],"paper,":[2],"we":[3],"introduce":[4],"a":[5,34,54,103,135,149,159,170,179],"novel":[6],"interface":[7,27,191],"that":[8,25,28,85,139,151,173],"allows":[9,29],"novice":[10,175],"users":[11,176],"to":[12,32,154,193],"effectively":[13],"and":[14,61,74,97,99,127,147,185],"intuitively":[15],"tele-operate":[16],"robot":[17,35,70,160],"manipulators.":[18],"The":[19],"premise":[20],"of":[21,42,50,90,112,158,166,181],"our":[22,167,188],"method":[23],"is":[24,66],"an":[26],"its":[30],"user":[31,108,171],"direct":[33,48,55,92,113],"arm":[36],"using":[37,144,187],"the":[38,51,58,62,69,78,88,91,107,110,118,164],"natural":[39],"6-DOF":[40],"space":[41],"his/her":[43],"hand":[44,60,95],"would":[45],"afford":[46],"effective":[47],"control":[49,143,157],"robot;":[52],"however,":[53],"mapping":[56,93],"between":[57,94],"user's":[59],"robot's":[63],"end":[64,100],"effector":[65,101],"impractical":[67],"because":[68],"has":[71],"different":[72],"kinematic":[73],"speed":[75],"capabilities":[76],"than":[77],"human":[79],"arm.":[80,161],"Our":[81],"key":[82],"technical":[83],"idea":[84],"by":[86],"relaxing":[87],"constraint":[89],"position":[96],"orientation":[98],"configuration,":[102],"system":[104,150],"can":[105,177],"provide":[106,155],"with":[109],"feel":[111],"control,":[114],"while":[115],"still":[116],"achieving":[117],"practical":[119],"requirements":[120],"for":[121,133],"telemanipulation,":[122],"such":[123],"as":[124],"motion":[125,136],"smoothness":[126],"singularity":[128],"avoidance.":[129],"We":[130,162],"present":[131],"methods":[132],"implementing":[134],"retargeting":[137],"solution":[138],"achieves":[140],"relaxed":[142],"constrained":[145],"optimization":[146],"describe":[148],"utilizes":[152],"it":[153],"real-time":[156],"demonstrate":[163],"effectiveness":[165],"approach":[168],"in":[169],"study":[172],"shows":[174],"complete":[178],"range":[180],"tasks":[182],"more":[183],"efficiently":[184],"enjoyably":[186],"relaxed-mimicry":[189],"based":[190],"compared":[192],"standard":[194],"interfaces.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}