{"id":"https://openalex.org/W4393279315","doi":"https://doi.org/10.3390/sym16040396","title":"Research on LFD System of Humanoid Dual-Arm Robot","display_name":"Research on LFD System of Humanoid Dual-Arm Robot","publication_year":2024,"publication_date":"2024-03-28","ids":{"openalex":"https://openalex.org/W4393279315","doi":"https://doi.org/10.3390/sym16040396"},"language":"en","primary_location":{"id":"doi:10.3390/sym16040396","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16040396","pdf_url":"https://www.mdpi.com/2073-8994/16/4/396/pdf?version=1711630309","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/16/4/396/pdf?version=1711630309","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026347937","display_name":"Ze Cui","orcid":"https://orcid.org/0000-0001-6908-1580"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ze Cui","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067938856","display_name":"Lang Kou","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lang Kou","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005635945","display_name":"Zenghao Chen","orcid":"https://orcid.org/0000-0003-1673-2751"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zenghao Chen","raw_affiliation_strings":["Shanghai Aerospace Control Technology Institute, Shanghai 201109, China","Shanghai Engineering Research Center of Inertial, Shanghai 201109, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Aerospace Control Technology Institute, Shanghai 201109, China","institution_ids":[]},{"raw_affiliation_string":"Shanghai Engineering Research Center of Inertial, Shanghai 201109, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111785958","display_name":"Peng Bao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng Bao","raw_affiliation_strings":["State Key Laboratory of Shield Machine and Boring Technology, Zhengzhou 450001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Shield Machine and Boring Technology, Zhengzhou 450001, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086399450","display_name":"Donghai Qian","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donghai Qian","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100841053","display_name":"Lang Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lang Xie","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100669157","display_name":"Yue Tang","orcid":"https://orcid.org/0000-0001-9915-5499"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Tang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5026347937"],"corresponding_institution_ids":["https://openalex.org/I113940042"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2227},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2227},"fwci":0.7557,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65252939,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"16","issue":"4","first_page":"396","last_page":"396"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9800999760627747,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9714999794960022,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8006467819213867},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6708683967590332},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6584427952766418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6356298327445984},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6323668360710144},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5298476219177246},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4500022530555725},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.43220311403274536},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4318448305130005},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.42385947704315186},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41964399814605713},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3861086368560791},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38027340173721313}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8006467819213867},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6708683967590332},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6584427952766418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6356298327445984},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6323668360710144},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5298476219177246},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4500022530555725},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.43220311403274536},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4318448305130005},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.42385947704315186},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41964399814605713},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3861086368560791},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38027340173721313},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"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/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/sym16040396","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16040396","pdf_url":"https://www.mdpi.com/2073-8994/16/4/396/pdf?version=1711630309","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1dbe729c32cf48efa67fe1b39b67e46c","is_oa":false,"landing_page_url":"https://doaj.org/article/1dbe729c32cf48efa67fe1b39b67e46c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"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":"Symmetry, Vol 16, Iss 4, p 396 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/sym16040396","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16040396","pdf_url":"https://www.mdpi.com/2073-8994/16/4/396/pdf?version=1711630309","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8921096081","display_name":null,"funder_award_id":"2022YFB4700501","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393279315.pdf"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1586390051","https://openalex.org/W1986014385","https://openalex.org/W1986533639","https://openalex.org/W2065432682","https://openalex.org/W2117778675","https://openalex.org/W2128677288","https://openalex.org/W2139630381","https://openalex.org/W2149563148","https://openalex.org/W2157719307","https://openalex.org/W2331138946","https://openalex.org/W2595562076","https://openalex.org/W2738190501","https://openalex.org/W2981922616","https://openalex.org/W2994446013","https://openalex.org/W3014528623","https://openalex.org/W3014905648","https://openalex.org/W3043330754","https://openalex.org/W3097664054","https://openalex.org/W3112400770","https://openalex.org/W3128707967","https://openalex.org/W3130985948","https://openalex.org/W3157658821","https://openalex.org/W3175335528","https://openalex.org/W3199740299","https://openalex.org/W3205423339","https://openalex.org/W4200632446","https://openalex.org/W4206142116","https://openalex.org/W4206244007","https://openalex.org/W4210340094","https://openalex.org/W4225710745","https://openalex.org/W4296914382","https://openalex.org/W4303648978","https://openalex.org/W4310068405","https://openalex.org/W4312266818","https://openalex.org/W4312839143","https://openalex.org/W4316464918","https://openalex.org/W4317383003","https://openalex.org/W4360897412","https://openalex.org/W4364856173","https://openalex.org/W4383109073","https://openalex.org/W4384789618","https://openalex.org/W4385154222","https://openalex.org/W4385757715","https://openalex.org/W4386180770","https://openalex.org/W4386942526","https://openalex.org/W6637765381","https://openalex.org/W6847485888","https://openalex.org/W7035530621"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W2166112783","https://openalex.org/W4378364998","https://openalex.org/W2141098361"],"abstract_inverted_index":{"Although":[0],"robots":[1,68,180],"have":[2],"been":[3],"widely":[4],"used":[5,81],"in":[6,20],"a":[7,28,51,100,136,145],"variety":[8],"of":[9,13,93,102,147],"fields,":[10],"the":[11,21,35,110,130,160],"idea":[12],"enabling":[14],"them":[15],"to":[16,85,140,181],"perform":[17],"multiple":[18],"tasks":[19,105],"same":[22],"way":[23],"that":[24,67],"humans":[25],"do":[26],"remains":[27],"difficulty.":[29],"To":[30],"solve":[31],"this,":[32],"we":[33,80,114,134],"investigate":[34],"learning":[36,172],"from":[37,183],"demonstration":[38,62,88],"(LFD)":[39],"system":[40],"with":[41],"our":[42,78,158],"independently":[43],"designed":[44],"symmetrical":[45],"humanoid":[46],"dual-arm":[47],"robot.":[48],"We":[49],"present":[50],"novel":[52],"action":[53,97,111,125,148,153],"feature":[54],"matching":[55],"algorithm.":[56],"This":[57],"algorithm":[58],"accurately":[59],"transforms":[60],"human":[61,87,165,184],"data":[63,143],"into":[64,144],"task":[65,107,131,171],"models":[66,118],"can":[69],"directly":[70],"execute,":[71],"considerably":[72],"improving":[73],"LFD\u2019s":[74],"generalization":[75],"capabilities.":[76],"In":[77],"studies,":[79],"motion":[82],"capture":[83,86],"cameras":[84],"actions,":[89],"which":[90],"included":[91],"combinations":[92],"simple":[94],"actions":[95],"(the":[96,106],"layer)":[98],"and":[99,122,150,173,186],"succession":[101],"complicated":[103],"operational":[104],"layer).":[108],"For":[109],"layer":[112,132],"data,":[113,133],"employed":[115],"Gaussian":[116],"mixture":[117],"(GMM)":[119],"for":[120,129,179],"processing":[121],"constructing":[123],"an":[124,176],"primitive":[126,154],"library.":[127,155],"As":[128],"created":[135],"\u201ckeyframe\u201d":[137],"segmentation":[138],"method":[139],"transform":[141],"this":[142],"series":[146],"primitives":[149],"build":[151],"another":[152],"Guided":[156],"by":[157],"algorithm,":[159],"robot":[161,189],"successfully":[162],"imitated":[163],"complex":[164],"tasks.":[166],"Results":[167],"show":[168],"its":[169],"excellent":[170],"execution,":[174],"providing":[175],"effective":[177],"solution":[178],"learn":[182],"demonstrations":[185],"significantly":[187],"advancing":[188],"technology.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
