{"id":"https://openalex.org/W2031580264","doi":"https://doi.org/10.1163/016918611x558261","title":"Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input","display_name":"Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input","publication_year":2011,"publication_date":"2011-01-01","ids":{"openalex":"https://openalex.org/W2031580264","doi":"https://doi.org/10.1163/016918611x558261","mag":"2031580264"},"language":"en","primary_location":{"id":"doi:10.1163/016918611x558261","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x558261","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-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/A5036281885","display_name":"Petar Kormushev","orcid":"https://orcid.org/0000-0002-6677-3044"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Petar Kormushev","raw_affiliation_strings":["a    Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","a Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"a    Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"a Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["b    Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","b Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"b    Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"b Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["c    Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","c Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"c    Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"c Department of Advanced Robotics, Italian Institute of Technology, 16163 Genova, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036281885"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":28.8915,"has_fulltext":false,"cited_by_count":274,"citation_normalized_percentile":{"value":0.99663965,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"25","issue":"5","first_page":"581","last_page":"603"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9947999715805054,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.9517999887466431,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.9312963485717773},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.8347848653793335},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6911745667457581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.636699914932251},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6177691221237183},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5356838703155518},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.46938130259513855},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.43865180015563965},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.418287068605423},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3826804459095001},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1870945692062378},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07402390241622925}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.9312963485717773},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.8347848653793335},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6911745667457581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.636699914932251},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6177691221237183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5356838703155518},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.46938130259513855},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.43865180015563965},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.418287068605423},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3826804459095001},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1870945692062378},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07402390241622925},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1163/016918611x558261","is_oa":false,"landing_page_url":"https://doi.org/10.1163/016918611x558261","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/26067","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/26067","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"603","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W391985582","https://openalex.org/W1499557840","https://openalex.org/W1516801383","https://openalex.org/W1684361744","https://openalex.org/W1974849157","https://openalex.org/W1986014385","https://openalex.org/W2004485236","https://openalex.org/W2005101305","https://openalex.org/W2016765487","https://openalex.org/W2027457629","https://openalex.org/W2046934306","https://openalex.org/W2050507902","https://openalex.org/W2050835671","https://openalex.org/W2055885908","https://openalex.org/W2063978650","https://openalex.org/W2066202893","https://openalex.org/W2086635207","https://openalex.org/W2089630413","https://openalex.org/W2097938758","https://openalex.org/W2113698995","https://openalex.org/W2114594261","https://openalex.org/W2122777916","https://openalex.org/W2128722009","https://openalex.org/W2131908539","https://openalex.org/W2154543878","https://openalex.org/W2157719307","https://openalex.org/W2233997862","https://openalex.org/W2964604465","https://openalex.org/W3187910756","https://openalex.org/W4211008118","https://openalex.org/W4254057022"],"related_works":["https://openalex.org/W2145204832","https://openalex.org/W2327210927","https://openalex.org/W4229057662","https://openalex.org/W2044297498","https://openalex.org/W3195731900","https://openalex.org/W2952163316","https://openalex.org/W2074483596","https://openalex.org/W2303198768","https://openalex.org/W2111832515","https://openalex.org/W4320154428"],"abstract_inverted_index":{"A":[0,81],"method":[1,17,149],"to":[2,22,24,88,119,144],"learn":[3,23],"and":[4,55,127,163],"reproduce":[5,120,145],"robot":[6,95,158],"force":[7,56,70,128],"interactions":[8],"in":[9,40,155],"a":[10,19,37,52,78,111,164],"human\u2013robot":[11],"interaction":[12],"setting":[13],"is":[14,45,61,72,117,141,150],"proposed.":[15],"The":[16,58,69,105,148],"allows":[18],"robotic":[20],"manipulator":[21],"perform":[25],"tasks":[26],"that":[27,93],"require":[28],"exerting":[29],"forces":[30,92],"on":[31,98,135],"external":[32,99],"objects":[33,100],"by":[34,47],"interacting":[35],"with":[36,138,152],"human":[38,82],"operator":[39],"an":[41,160],"unstructured":[42],"environment.":[43],"This":[44],"achieved":[46],"learning":[48],"two":[49,106,153],"aspects":[50],"of":[51,113],"task:":[53],"positional":[54,59,126],"profiles.":[57,129],"profile":[60,71],"obtained":[62,73],"from":[63,74],"task":[64,103,122,162],"demonstrations":[65,76],"via":[66,77],"kinesthetic":[67],"teaching.":[68],"additional":[75],"haptic":[79,86],"device.":[80],"teacher":[83],"uses":[84],"the":[85,90,94,102,121,125,146,157],"device":[87],"input":[89],"desired":[91],"should":[96],"exert":[97],"during":[101],"execution.":[104],"profiles":[107],"are":[108],"encoded":[109],"as":[110],"mixture":[112],"dynamical":[114],"systems,":[115],"which":[116,156],"used":[118],"satisfying":[123],"both":[124],"An":[130],"active":[131],"control":[132,137],"strategy":[133],"based":[134],"task-space":[136],"variable":[139],"stiffness":[140],"then":[142],"proposed":[143],"skill.":[147],"demonstrated":[151],"experiments":[154],"learns":[159],"ironing":[161],"door-opening":[165],"task.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":31},{"year":2018,"cited_by_count":19},{"year":2017,"cited_by_count":19},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":25},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":15},{"year":2012,"cited_by_count":10}],"updated_date":"2026-03-17T09:09:15.849793","created_date":"2025-10-10T00:00:00"}
