{"id":"https://openalex.org/W2003155905","doi":"https://doi.org/10.1177/0278364910376251","title":"Learning Non-linear Multivariate Dynamics of Motion in Robotic Manipulators","display_name":"Learning Non-linear Multivariate Dynamics of Motion in Robotic Manipulators","publication_year":2010,"publication_date":"2010-08-05","ids":{"openalex":"https://openalex.org/W2003155905","doi":"https://doi.org/10.1177/0278364910376251","mag":"2003155905"},"language":"en","primary_location":{"id":"doi:10.1177/0278364910376251","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910376251","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/148817","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040145850","display_name":"Elena Gribovskaya","orcid":null},"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":"E. Gribovskaya","raw_affiliation_strings":["EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,","EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,#TAB#","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014735096","display_name":"Seyed Mohammad Khansari-Zadeh","orcid":null},"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":"S.M. Khansari-Zadeh","raw_affiliation_strings":["EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland","EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,#TAB#","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"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":"A. Billard","raw_affiliation_strings":["EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland","EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"EPFL-STI-I2S-LASA, Station 9, CH 1015, Lausanne, Switzerland,#TAB#","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":15.8859,"has_fulltext":false,"cited_by_count":116,"citation_normalized_percentile":{"value":0.98953066,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"30","issue":"1","first_page":"80","last_page":"117"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9936000108718872,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9868000149726868,"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/computer-science","display_name":"Computer science","score":0.622157633304596},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5619154572486877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5569881796836853},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4805086851119995},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.47416558861732483},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.46512719988822937},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.46493881940841675},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45448800921440125},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3659975826740265}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.622157633304596},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5619154572486877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5569881796836853},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4805086851119995},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.47416558861732483},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.46512719988822937},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.46493881940841675},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45448800921440125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3659975826740265},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1177/0278364910376251","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364910376251","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.220.3270","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.220.3270","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://lasa.epfl.ch/publications/uploadedFiles/IJRR_Motion_Learning_v2.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.657.6329","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.657.6329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotcub.org/misc/papers/09_Gribovskaya_Khansari_Billard.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:148817","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/148817","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:148817","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/148817","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":106,"referenced_works":["https://openalex.org/W10078005","https://openalex.org/W127021830","https://openalex.org/W133148819","https://openalex.org/W147207315","https://openalex.org/W293562929","https://openalex.org/W1276163824","https://openalex.org/W1497915382","https://openalex.org/W1516801383","https://openalex.org/W1534230820","https://openalex.org/W1538021842","https://openalex.org/W1566040313","https://openalex.org/W1579271636","https://openalex.org/W1597405158","https://openalex.org/W1600437712","https://openalex.org/W1618600317","https://openalex.org/W1684361744","https://openalex.org/W1689445748","https://openalex.org/W1885639605","https://openalex.org/W1956636948","https://openalex.org/W1968846988","https://openalex.org/W1972837991","https://openalex.org/W1980440818","https://openalex.org/W1988946454","https://openalex.org/W1990654347","https://openalex.org/W1991780593","https://openalex.org/W2002007892","https://openalex.org/W2005731026","https://openalex.org/W2008137931","https://openalex.org/W2021927715","https://openalex.org/W2022638422","https://openalex.org/W2028725248","https://openalex.org/W2042251154","https://openalex.org/W2043152589","https://openalex.org/W2049633694","https://openalex.org/W2055051574","https://openalex.org/W2056884876","https://openalex.org/W2067477439","https://openalex.org/W2068303356","https://openalex.org/W2078899217","https://openalex.org/W2088792975","https://openalex.org/W2095945525","https://openalex.org/W2100538121","https://openalex.org/W2104171826","https://openalex.org/W2105453532","https://openalex.org/W2107699930","https://openalex.org/W2111781320","https://openalex.org/W2112474089","https://openalex.org/W2113442785","https://openalex.org/W2113486168","https://openalex.org/W2113698995","https://openalex.org/W2114171536","https://openalex.org/W2115817551","https://openalex.org/W2117949838","https://openalex.org/W2121924531","https://openalex.org/W2122777916","https://openalex.org/W2126097529","https://openalex.org/W2126319939","https://openalex.org/W2127515439","https://openalex.org/W2128677288","https://openalex.org/W2129515556","https://openalex.org/W2130726249","https://openalex.org/W2131916242","https://openalex.org/W2132675839","https://openalex.org/W2134122536","https://openalex.org/W2135043890","https://openalex.org/W2142624263","https://openalex.org/W2146599146","https://openalex.org/W2148216652","https://openalex.org/W2149192758","https://openalex.org/W2149942158","https://openalex.org/W2150731931","https://openalex.org/W2154032554","https://openalex.org/W2157720571","https://openalex.org/W2158607953","https://openalex.org/W2158976313","https://openalex.org/W2159323809","https://openalex.org/W2159893335","https://openalex.org/W2160792351","https://openalex.org/W2161395589","https://openalex.org/W2162695884","https://openalex.org/W2163591144","https://openalex.org/W2165364535","https://openalex.org/W2166112783","https://openalex.org/W2167804690","https://openalex.org/W2168828075","https://openalex.org/W2168921921","https://openalex.org/W2261442997","https://openalex.org/W2303765041","https://openalex.org/W2319437287","https://openalex.org/W2341171179","https://openalex.org/W2481263544","https://openalex.org/W2488678869","https://openalex.org/W2540877599","https://openalex.org/W3129711340","https://openalex.org/W3142707146","https://openalex.org/W3147260715","https://openalex.org/W4211008118","https://openalex.org/W4212774754","https://openalex.org/W4236573885","https://openalex.org/W4246113444","https://openalex.org/W4251288685","https://openalex.org/W4251512373","https://openalex.org/W4253954440","https://openalex.org/W4285719527","https://openalex.org/W4293257133","https://openalex.org/W4297663678"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W1929120455","https://openalex.org/W2753556613"],"abstract_inverted_index":{"Motion":[0],"imitation":[1],"requires":[2],"reproduction":[3],"of":[4,8,88,105,109,120,131,136,137,146,154,170,180,192,204],"a":[5,9,12,21,26,34,77,103,118,168,208],"dynamical":[6,173],"signature":[7],"movement,":[10],"i.e.":[11],"robot":[13,49,100],"should":[14,60],"be":[15,61],"able":[16,62],"to":[17,52,63,97,122,157,186],"encode":[18],"and":[19,177],"reproduce":[20,53],"particular":[22],"path":[23],"together":[24],"with":[25,195,207],"specific":[27],"velocity":[28],"and/or":[29],"an":[30,95,201],"acceleration":[31],"profile.":[32],"Furthermore,":[33],"human":[35],"provides":[36,127],"only":[37],"few":[38],"demonstrations,":[39],"which":[40,47,85],"cannot":[41],"cover":[42],"all":[43],"possible":[44],"contexts":[45],"in":[46,71,80,84,134],"the":[48,54,58,86,89,110,132,155,181,188],"will":[50],"need":[51],"motion":[55,90,121,133,161,190],"autonomously.":[56],"Therefore,":[57],"encoding":[59,112],"efficiently":[64],"generalize":[65],"knowledge":[66],"by":[67,82,149,165],"generating":[68],"similar":[69],"motions":[70,101],"unseen":[72,123],"contexts.":[73],"This":[74],"work":[75],"follows":[76],"recent":[78],"trend":[79],"programming":[81],"demonstration":[83],"dynamics":[87,162,191],"is":[91,163],"learned.":[92],"We":[93,199],"present":[94],"algorithm":[96],"estimate":[98,158],"multivariate":[99],"through":[102],"mixture":[104],"Gaussians.":[106],"The":[107,152,175],"strengths":[108],"proposed":[111],"are":[113,183],"three-fold:":[114],"(i)":[115],"it":[116,126,141],"allows":[117],"generalization":[119],"context;":[124],"(ii)":[125],"fast":[128],"on-line":[129],"replanning":[130],"case":[135],"spatio-temporal":[138],"perturbations;":[139],"(iii)":[140],"may":[142],"embed":[143],"different":[144,150,196],"types":[145],"dynamics,":[147],"governed":[148],"attractors.":[151],"generality":[153],"method":[156,182],"arbitrary":[159],"non-linear":[160,172,189],"demonstrated":[164],"accurately":[166],"estimating":[167],"set":[169],"known":[171],"systems.":[174],"platform-independency":[176],"real-time":[178],"performance":[179],"further":[184],"validated":[185],"learn":[187],"manipulation":[193],"tasks":[194],"robotic":[197],"platforms.":[198],"provide":[200],"experimental":[202],"comparison":[203],"our":[205],"approach":[206],"related":[209],"state-of-the-art":[210],"method.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":10},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
