{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,11]],"date-time":"2026-06-11T16:20:36Z","timestamp":1781194836840,"version":"3.54.1"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"32","license":[{"start":{"date-parts":[[2021,9,22]],"date-time":"2021-09-22T00:00:00Z","timestamp":1632268800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2021,9,22]],"date-time":"2021-09-22T00:00:00Z","timestamp":1632268800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"National Key Research and Development Program of China","award":["2019YFC1511401"],"award-info":[{"award-number":["2019YFC1511401"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61103157"],"award-info":[{"award-number":["61103157"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput &amp; Applic"],"published-print":{"date-parts":[[2023,11]]},"DOI":"10.1007\/s00521-021-06449-x","type":"journal-article","created":{"date-parts":[[2021,9,22]],"date-time":"2021-09-22T13:02:52Z","timestamp":1632315772000},"page":"23441-23451","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":57,"title":["Human\u2013robot skill transmission for mobile robot via learning by demonstration"],"prefix":"10.1007","volume":"35","author":[{"given":"Jiehao","family":"Li","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8942-4472","authenticated-orcid":false,"given":"Junzheng","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shoukun","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chenguang","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,9,22]]},"reference":[{"key":"6449_CR1","doi-asserted-by":"crossref","unstructured":"Berger E, M\u00fcller D, Vogt D, Jung B, Amor HB (2014). Transfer entropy for feature extraction in physical human\u2013robot interaction: detecting perturbations from low-cost sensors. In: IEEE\/RAS international conference on humanoid robots. IEEE, pp 829\u2013834","DOI":"10.1109\/HUMANOIDS.2014.7041459"},{"key":"6449_CR2","doi-asserted-by":"crossref","unstructured":"Calinon S, Billard A (2008) A probabilistic programming by demonstration framework handling constraints in joint space and task space. In: IEEE\/RSJ international conference on intelligent robots and systems. IEEE, pp 367\u2013372","DOI":"10.1109\/IROS.2008.4650593"},{"issue":"2","key":"6449_CR3","doi-asserted-by":"publisher","first-page":"286","DOI":"10.1109\/TSMCB.2006.886952","volume":"37","author":"S Calinon","year":"2007","unstructured":"Calinon S, Guenter F, Billard A (2007) On learning, representing, and generalizing a task in a humanoid robot. IEEE Trans Syst Man Cybern Part B 37(2):286\u2013298","journal-title":"IEEE Trans Syst Man Cybern Part B"},{"key":"6449_CR4","doi-asserted-by":"crossref","unstructured":"Calinon S, D\u2019halluin F, Sauser EL, Caldwell DG, Billard AG, (2010) Learning and reproduction of gestures by imitation. IEEE Robotics Autom Mag 17(2):44\u201354","DOI":"10.1109\/MRA.2010.936947"},{"key":"6449_CR5","doi-asserted-by":"publisher","unstructured":"Chen J, Du C, Zhang Y, Han P, Wei W (2021) A clustering-based coverage path planning method for autonomous heterogeneous UAVs. IEEE Trans Intell Transp Syst 1\u201311. https:\/\/doi.org\/10.1109\/TITS.2021.3066240","DOI":"10.1109\/TITS.2021.3066240"},{"key":"6449_CR6","doi-asserted-by":"publisher","unstructured":"Chen Z, Li J, Wang J, Wang S, Zhao J, Li J (2021) Towards hybrid gait obstacle avoidance for a six wheel-legged robot with payload transportation. J Intell Robotic Syst 1\u201321. https:\/\/doi.org\/10.1007\/s10846-021-01417-y","DOI":"10.1007\/s10846-021-01417-y"},{"key":"6449_CR7","doi-asserted-by":"publisher","first-page":"367","DOI":"10.1016\/j.isatra.2020.08.033","volume":"108","author":"Z Chen","year":"2021","unstructured":"Chen Z, Wang S, Wang J, Xu K, Lei T, Zhang H, Wang X, Liu D, Si J (2021) Control strategy of stable walking for a hexapod wheel-legged robot. ISA Trans 108:367\u2013380","journal-title":"ISA Trans"},{"key":"6449_CR8","doi-asserted-by":"crossref","unstructured":"Fankhauser P, Bloesch M, Rodriguez D, Kaestner R, Hutter M, Siegwart R (2015) Kinect v2 for mobile robot navigation: evaluation and modeling. In: International conference on advanced robotics (ICAR). IEEE, pp 388\u2013394","DOI":"10.1109\/ICAR.2015.7251485"},{"issue":"1","key":"6449_CR9","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1109\/TII.2019.2957768","volume":"17","author":"D Huang","year":"2019","unstructured":"Huang D, Yang C, Pan Y, Cheng L (2019) Composite learning enhanced neural control for robot manipulator with output error constraints. IEEE Trans Ind Inf 17(1):209\u2013218","journal-title":"IEEE Trans Ind Inf"},{"issue":"10","key":"6449_CR10","doi-asserted-by":"publisher","first-page":"8608","DOI":"10.1109\/TIE.2019.2950853","volume":"67","author":"H Huang","year":"2020","unstructured":"Huang H, Zhang T, Yang C, Chen CLP (2020) Motor learning and generalization using broad learning adaptive neural control. IEEE Trans Ind Electron 67(10):8608\u20138617","journal-title":"IEEE Trans Ind Electron"},{"issue":"5","key":"6449_CR11","doi-asserted-by":"publisher","first-page":"943","DOI":"10.1109\/TRO.2011.2159412","volume":"27","author":"SM Khansari-Zadeh","year":"2011","unstructured":"Khansari-Zadeh SM, Billard A (2011) Learning stable nonlinear dynamical systems with gaussian mixture models. IEEE Trans Robotics 27(5):943\u2013957","journal-title":"IEEE Trans Robotics"},{"issue":"5","key":"6449_CR12","doi-asserted-by":"publisher","first-page":"889","DOI":"10.1002\/rob.21895","volume":"37","author":"T Klamt","year":"2020","unstructured":"Klamt T, Schwarz M, Lenz C, Baccelliere L, Buongiorno D, Cichon T, DiGuardo A, Droeschel D, Gabardi M, Kamedula M et al (2020) Remote mobile manipulation with the centauro robot: full-body telepresence and autonomous operator assistance. J Field Robotics 37(5):889\u2013919","journal-title":"J Field Robotics"},{"issue":"1","key":"6449_CR13","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1109\/TMECH.2017.2717461","volume":"23","author":"Z Li","year":"2017","unstructured":"Li Z, Zhao T, Chen F, Hu Y, Su CY, Fukuda T (2017) Reinforcement learning of manipulation and grasping using dynamical movement primitives for a humanoidlike mobile manipulator. IEEE\/ASME Trans Mechatron 23(1):121\u2013131","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"12","key":"6449_CR14","doi-asserted-by":"publisher","first-page":"9614","DOI":"10.1109\/TIE.2018.2821649","volume":"65","author":"Z Li","year":"2018","unstructured":"Li Z, Huang B, Ye Z, Deng M, Yang C (2018) Physical human-robot interaction of a robotic exoskeleton by admittance control. IEEE Trans Ind Electron 65(12):9614\u20139624","journal-title":"IEEE Trans Ind Electron"},{"key":"6449_CR15","doi-asserted-by":"publisher","first-page":"342","DOI":"10.1016\/j.neucom.2020.05.091","volume":"410","author":"J Li","year":"2020","unstructured":"Li J, Wang J, Peng H, Zhang L, Hu Y, Su H (2020) Neural fuzzy approximation enhanced autonomous tracking control of the wheel-legged robot under uncertain physical interaction. Neurocomputing 410:342\u2013353","journal-title":"Neurocomputing"},{"issue":"5","key":"6449_CR16","doi-asserted-by":"publisher","first-page":"675","DOI":"10.1108\/AA-08-2019-0148","volume":"40","author":"J Li","year":"2020","unstructured":"Li J, Wang J, Wang S, Peng H, Wang B, Qi W, Zhang L, Su H (2020) Parallel structure of six wheel-legged robot trajectory tracking control with heavy payload under uncertain physical interaction. Assem Autom 40(5):675\u2013687","journal-title":"Assem Autom"},{"issue":"3","key":"6449_CR17","doi-asserted-by":"publisher","first-page":"4399","DOI":"10.1109\/LRA.2020.2998715","volume":"5","author":"Y Li","year":"2020","unstructured":"Li Y, Eden J, Carboni G, Burdet E (2020) Improving tracking through human-robot sensory augmentation. IEEE Robotics Autom Lett 5(3):4399\u20134406","journal-title":"IEEE Robotics Autom Lett"},{"issue":"12","key":"6449_CR18","doi-asserted-by":"publisher","first-page":"5296","DOI":"10.1109\/TSMC.2018.2871196","volume":"50","author":"Z Li","year":"2020","unstructured":"Li Z, Xu C, Wei Q, Shi C, Su CY (2020) Human-inspired control of dual-arm exoskeleton robots with force and impedance adaptation. IEEE Trans Syst Man Cybern Syst 50(12):5296\u20135305","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"6449_CR19","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2021.3070508","author":"J Li","year":"2021","unstructured":"Li J, Qin H, Wang J, Li J (2021) Openstreetmap-based autonomous navigation for the four wheel-legged robot via 3d-lidar and CCD camera. IEEE Trans Ind Electron. https:\/\/doi.org\/10.1109\/TIE.2021.3070508","journal-title":"IEEE Trans Ind Electron"},{"key":"6449_CR20","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2021.3050616","author":"J Li","year":"2021","unstructured":"Li J, Wang J, Peng H, Hu Y, Su H (2021) Fuzzy-torque approximation enhanced sliding mode control for lateral stability of mobile robot. IEEE Trans Syst Man Cybern Syst. https:\/\/doi.org\/10.1109\/TSMC.2021.3050616","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"6449_CR21","doi-asserted-by":"publisher","DOI":"10.1108\/AA-11-2020-0179","author":"J Li","year":"2021","unstructured":"Li J, Wang S, Wang J, Li J, Zhao J, Ma L (2021) Iterative learning control for a distributed cloud robot with payload delivery. Assem Autom. https:\/\/doi.org\/10.1108\/AA-11-2020-0179","journal-title":"Assem Autom"},{"key":"6449_CR22","first-page":"1","volume":"2016","author":"P Liang","year":"2016","unstructured":"Liang P, Ge L, Liu Y, Zhao L, Li R, Wang K (2016) An augmented discrete-time approach for human\u2013robot collaboration. Discret Dyn Nat Soc 2016:1\u201313","journal-title":"Discret Dyn Nat Soc"},{"issue":"4","key":"6449_CR23","doi-asserted-by":"publisher","first-page":"3138","DOI":"10.1109\/TIE.2019.2912781","volume":"67","author":"G Peng","year":"2019","unstructured":"Peng G, Yang C, He W, Chen CP (2019) Force sensorless admittance control with neural learning for robots with actuator saturation. IEEE Trans Ind Electron 67(4):3138\u20133148","journal-title":"IEEE Trans Ind Electron"},{"issue":"3","key":"6449_CR24","doi-asserted-by":"crossref","first-page":"1366","DOI":"10.1109\/TMECH.2020.2970505","volume":"25","author":"H Peng","year":"2020","unstructured":"Peng H, Wang J, Wang S, Shen W, Shi D, Liu D (2020) Coordinated motion control for a wheel-leg robot with speed consensus strategy. IEEE\/ASME Trans Mechatron 25(3):1366\u20131376","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"9","key":"6449_CR25","doi-asserted-by":"publisher","first-page":"1485","DOI":"10.1109\/TCYB.2013.2287014","volume":"44","author":"H Qiao","year":"2013","unstructured":"Qiao H, Li Y, Tang T, Wang P (2013) Introducing memory and association mechanism into a biologically inspired visual model. IEEE Trans Cybern 44(9):1485\u20131496","journal-title":"IEEE Trans Cybern"},{"issue":"5","key":"6449_CR26","doi-asserted-by":"publisher","first-page":"2311","DOI":"10.1109\/TMECH.2014.2375638","volume":"20","author":"H Qiao","year":"2014","unstructured":"Qiao H, Wang M, Su J, Jia S, Li R (2014) The concept of \u201cattractive region in environment\u2019\u2019 and its application in high-precision tasks with low-precision systems. IEEE\/ASME Trans Mechatron 20(5):2311\u20132327","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"5","key":"6449_CR27","doi-asserted-by":"publisher","first-page":"2277","DOI":"10.1109\/TMECH.2017.2748887","volume":"22","author":"D Shi","year":"2017","unstructured":"Shi D, Xue J, Zhao L, Wang J, Huang Y (2017) Event-triggered active disturbance rejection control of DC torque motors. IEEE\/ASME Trans Mechatron 22(5):2277\u20132287","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"8","key":"6449_CR28","doi-asserted-by":"publisher","first-page":"6281","DOI":"10.1109\/TIE.2018.2873516","volume":"66","author":"D Shi","year":"2019","unstructured":"Shi D, Xue J, Wang J, Huang Y (2019) A high-gain approach to event-triggered control with applications to motor systems. IEEE Trans Ind Electron 66(8):6281\u20136291","journal-title":"IEEE Trans Ind Electron"},{"key":"6449_CR29","doi-asserted-by":"publisher","first-page":"291","DOI":"10.1016\/j.neunet.2020.07.033","volume":"131","author":"H Su","year":"2020","unstructured":"Su H, Hu Y, Karimi HR, Knoll A, Ferrigno G, De Momi E (2020) Improved recurrent neural network-based manipulator control with remote center of motion constraints: experimental results. Neural Netw 131:291\u2013299","journal-title":"Neural Netw"},{"key":"6449_CR30","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.3045655","author":"H Su","year":"2021","unstructured":"Su H, Mariani A, Ovur Salih E, Menciassi A, Ferrigno G, De Momi E (2021) Towards teaching by demonstration for robot-assisted minimally invasive surgery. IEEE Trans Autom Sci Eng. https:\/\/doi.org\/10.1109\/TASE.2020.3045655","journal-title":"IEEE Trans Autom Sci Eng"},{"key":"6449_CR31","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2020.3036693","author":"H Su","year":"2020","unstructured":"Su H, Qi W, Hu Y, Karimi HR, Ferrigno G, De Momi E (2020) An incremental learning framework for human-like redundancy optimization of anthropomorphic manipulators. IEEE Trans Ind Inf. https:\/\/doi.org\/10.1109\/TII.2020.3036693","journal-title":"IEEE Trans Ind Inf"},{"key":"6449_CR32","doi-asserted-by":"crossref","unstructured":"Wang W, Huang H, Zhang L, Su C (2020) Secure and efficient mutual authentication protocol for smart grid under blockchain. Peer-to-Peer Netw Appl 1\u201313","DOI":"10.1007\/s12083-020-01020-2"},{"key":"6449_CR33","doi-asserted-by":"publisher","first-page":"2093","DOI":"10.1016\/j.neucom.2017.10.034","volume":"275","author":"Y Xu","year":"2018","unstructured":"Xu Y, Yang C, Zhong J, Wang N, Zhao L (2018) Robot teaching by teleoperation based on visual interaction and extreme learning machine. Neurocomputing 275:2093\u20132103","journal-title":"Neurocomputing"},{"issue":"3","key":"6449_CR34","doi-asserted-by":"publisher","first-page":"777","DOI":"10.1109\/TNNLS.2018.2852711","volume":"30","author":"C Yang","year":"2019","unstructured":"Yang C, Chen C, He W, Cui R, Li Z (2019) Robot learning system based on adaptive neural control and dynamic movement primitives. IEEE Trans Neural Netw Learn Syst 30(3):777\u2013787","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"issue":"2","key":"6449_CR35","doi-asserted-by":"publisher","first-page":"1153","DOI":"10.1109\/TII.2018.2826064","volume":"15","author":"C Yang","year":"2019","unstructured":"Yang C, Zeng C, Cong Y, Wang N, Wang M (2019) A learning framework of adaptive manipulative skills from human to robot. IEEE Trans Ind Inf 15(2):1153\u20131161","journal-title":"IEEE Trans Ind Inf"},{"key":"6449_CR36","doi-asserted-by":"publisher","unstructured":"Yang C, Huang D, He W, Cheng L (2020) Neural control of robot manipulators with trajectory tracking constraints and input saturation. IEEE Trans Neural Netw Learn Syst 1\u201312 (2020). https:\/\/doi.org\/10.1109\/TNNLS.2020.3017202","DOI":"10.1109\/TNNLS.2020.3017202"},{"issue":"2","key":"6449_CR37","doi-asserted-by":"publisher","first-page":"1244","DOI":"10.1109\/TII.2020.2984482","volume":"17","author":"C Zeng","year":"2020","unstructured":"Zeng C, Yang C, Cheng H, Li Y, Dai S (2020) Simultaneously encoding movement and sEMG-based stiffness for robotic skill learning. IEEE Trans Ind Inf 17(2):1244\u20131252","journal-title":"IEEE Trans Ind Inf"},{"key":"6449_CR38","doi-asserted-by":"crossref","unstructured":"Zhang T, McCarthy Z, Jow O, Lee D, Chen X, Goldberg K, Abbeel P (2018) Deep imitation learning for complex manipulation tasks from virtual reality teleoperation. In: IEEE international conference on robotics and automation (ICRA). IEEE, pp 5628\u20135635","DOI":"10.1109\/ICRA.2018.8461249"},{"issue":"5","key":"6449_CR39","doi-asserted-by":"publisher","first-page":"1271","DOI":"10.1007\/s10514-018-9793-7","volume":"43","author":"J Zhong","year":"2019","unstructured":"Zhong J, Peniak M, Tani J, Ogata T, Cangelosi A (2019) Sensorimotor input as a language generalisation tool: a neurorobotics model for generation and generalisation of noun-verb combinations with sensorimotor inputs. Auton Robot 43(5):1271\u20131290","journal-title":"Auton Robot"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-06449-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00521-021-06449-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-06449-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,4,9]],"date-time":"2025-04-09T09:51:07Z","timestamp":1744192267000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00521-021-06449-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,22]]},"references-count":39,"journal-issue":{"issue":"32","published-print":{"date-parts":[[2023,11]]}},"alternative-id":["6449"],"URL":"https:\/\/doi.org\/10.1007\/s00521-021-06449-x","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,9,22]]},"assertion":[{"value":"29 January 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 August 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"22 September 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declaration"}},{"value":"All authors have participated in conception and design, or analysis and interpretation of the data. No conflict of interest exists in the submission of this manuscript.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}