{"id":"https://openalex.org/W4210585857","doi":"https://doi.org/10.1177/02783649211030952","title":"Locally active globally stable dynamical systems: Theory, learning, and experiments","display_name":"Locally active globally stable dynamical systems: Theory, learning, and experiments","publication_year":2022,"publication_date":"2022-01-27","ids":{"openalex":"https://openalex.org/W4210585857","doi":"https://doi.org/10.1177/02783649211030952"},"language":"en","primary_location":{"id":"doi:10.1177/02783649211030952","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211030952","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":"https://infoscience.epfl.ch/handle/20.500.14299/185795","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074348852","display_name":"Nadia Figueroa","orcid":"https://orcid.org/0000-0002-6873-4671"},"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"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["CH","US"],"is_corresponding":true,"raw_author_name":"Nadia Figueroa","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT), Computer Science and Artificial Intelligence Lab (CSAIL), Cambridge, MA, USA","\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Learning Algorithms and Systems Laboratory (LASA), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT), Computer Science and Artificial Intelligence Lab (CSAIL), Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Learning Algorithms and Systems Laboratory (LASA), Lausanne, Switzerland","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":"Aude Billard","raw_affiliation_strings":["\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Learning Algorithms and Systems Laboratory (LASA), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Learning Algorithms and Systems Laboratory (LASA), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074348852"],"corresponding_institution_ids":["https://openalex.org/I5124864","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":3.1535,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.91555777,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"41","issue":"3","first_page":"312","last_page":"347"},"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":0.9959999918937683,"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":0.9950000047683716,"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/icub","display_name":"iCub","score":0.752079427242279},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.559425413608551},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.540332019329071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5201659202575684},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5037943720817566},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47241225838661194},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4685657322406769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4675544500350952},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46504297852516174},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.45212578773498535},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.413381427526474},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3351821005344391}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.752079427242279},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.559425413608551},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.540332019329071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5201659202575684},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5037943720817566},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47241225838661194},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4685657322406769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4675544500350952},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46504297852516174},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.45212578773498535},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.413381427526474},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3351821005344391},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/02783649211030952","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649211030952","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:infoscience.epfl.ch:292307","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/185795","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:292307","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/185795","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5600000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1965421192","https://openalex.org/W1977655452","https://openalex.org/W1978023077","https://openalex.org/W1981083880","https://openalex.org/W1991667713","https://openalex.org/W1994691148","https://openalex.org/W2003155905","https://openalex.org/W2008491851","https://openalex.org/W2031711324","https://openalex.org/W2060914855","https://openalex.org/W2068155564","https://openalex.org/W2079736964","https://openalex.org/W2083552623","https://openalex.org/W2096156956","https://openalex.org/W2104214833","https://openalex.org/W2110144538","https://openalex.org/W2112474089","https://openalex.org/W2129202194","https://openalex.org/W2141870784","https://openalex.org/W2244449411","https://openalex.org/W2296617859","https://openalex.org/W2327315597","https://openalex.org/W2400535959","https://openalex.org/W2464089775","https://openalex.org/W2478063815","https://openalex.org/W2536620281","https://openalex.org/W2604272474","https://openalex.org/W2726802950","https://openalex.org/W2885414200","https://openalex.org/W2909411248","https://openalex.org/W2921976013","https://openalex.org/W2992833799","https://openalex.org/W3044718039","https://openalex.org/W3140388297","https://openalex.org/W3142707146","https://openalex.org/W4250337464","https://openalex.org/W4252287909","https://openalex.org/W4299356270"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2198321481","https://openalex.org/W2026275902","https://openalex.org/W2963637864"],"abstract_inverted_index":{"State-dependent":[0],"dynamical":[1],"systems":[2],"(DSs)":[3],"offer":[4],"adaptivity,":[5],"reactivity,":[6],"and":[7,14,125,153,188,218,221],"robustness":[8],"to":[9,52,65,93],"perturbations":[10],"in":[11,32,134,156,166],"motion":[12,21,152,160],"planning":[13],"physical":[15],"human\u2013robot":[16],"interaction":[17],"tasks.":[18],"Learning":[19],"DS-based":[20,159],"plans":[22],"from":[23,172],"non-linear":[24],"reference":[25,97,132],"trajectories":[26],"is":[27,143,164],"an":[28],"active":[29,111],"research":[30],"area":[31],"robotics.":[33],"Most":[34],"approaches":[35],"focus":[36],"on":[37,180,209,219],"learning":[38,177],"DSs":[39],"that":[40,120,195],"can":[41],"(i)":[42],"accurately":[43],"mimic":[44],"the":[45,53,77,82,85,88,91,109,137,167],"demonstrated":[46],"motion,":[47],"while":[48],"(ii)":[49],"ensuring":[50],"convergence":[51,124],"target,":[54],"i.e.,":[55,162],"they":[56],"are":[57],"globally":[58,112],"asymptotically":[59],"(or":[60],"exponentially)":[61],"stable.":[62],"When":[63],"subject":[64],"perturbations,":[66],"a":[67,72,95,116,131,148,157,176,189,213],"compliant":[68],"robot":[69,92],"guided":[70],"with":[71,212,224],"DS":[73,83,114,118,200],"will":[74,101],"continue":[75],"following":[76],"next":[78],"integral":[79],"curves":[80],"of":[81,136,191,198],"towards":[84,151],"target.":[86],"If":[87],"task":[89],"requires":[90],"track":[94],"specific":[96],"trajectory,":[98],"this":[99,105],"approach":[100,150],"fail.":[102],"To":[103,169],"alleviate":[104],"shortcoming,":[106],"we":[107,174],"propose":[108,175],"locally":[110],"stable":[113,199],"(LAGS-DS),":[115],"novel":[117],"formulation":[119],"provides":[121],"both":[122],"global":[123],"stiffness-like":[126],"symmetric":[127],"attraction":[128],"behaviors":[129],"around":[130],"trajectory":[133,141],"regions":[135],"state":[138],"space":[139],"where":[140],"tracking":[142],"important.":[144],"This":[145],"allows":[146],"for":[147],"unified":[149],"impedance":[154],"encoding":[155],"single":[158],"model,":[161],"stiffness":[163],"embedded":[165],"DS.":[168],"learn":[170],"LAGS-DS":[171,208],"demonstrations":[173],"strategy":[178],"based":[179],"Bayesian":[181],"non-parametric":[182],"Gaussian":[183,186],"mixture":[184],"models,":[185],"processes,":[187],"sequence":[190],"constrained":[192],"optimization":[193],"problems":[194],"ensure":[196],"estimation":[197],"parameters":[201],"via":[202],"Lyapunov":[203],"theory.":[204],"We":[205],"experimentally":[206],"validated":[207],"writing":[210],"tasks":[211,223],"KUKA":[214],"LWR":[215],"4+":[216],"arm":[217],"navigation":[220],"co-manipulation":[222],"iCub":[225],"humanoid":[226],"robots.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
