{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,9]],"date-time":"2025-10-09T21:17:24Z","timestamp":1760044644114,"version":"3.40.4"},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2014,4,17]],"date-time":"2014-04-17T00:00:00Z","timestamp":1397692800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2015,4]]},"DOI":"10.1007\/s10846-014-0055-4","type":"journal-article","created":{"date-parts":[[2014,4,16]],"date-time":"2014-04-16T00:14:53Z","timestamp":1397607293000},"page":"21-32","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["On the Control of Human-Robot Bi-Manual Manipulation"],"prefix":"10.1007","volume":"78","author":[{"given":"Stephen","family":"Warren","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Panagiotis","family":"Artemiadis","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2014,4,17]]},"reference":[{"issue":"1","key":"55_CR1","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1016\/j.robot.2005.09.016","volume":"54","author":"EA Al-Gallaf","year":"2006","unstructured":"Al-Gallaf, E.A.: Multi-fingered robot hand optimal task force distribution: neural inverse kinematics approach. Robot. Auton. Syst. 54(1), 34\u201351 (2006)","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"55_CR2","doi-asserted-by":"crossref","first-page":"393","DOI":"10.1109\/TRO.2009.2039378","volume":"26","author":"PK Artemiadis","year":"2010","unstructured":"Artemiadis, P.K., Kyriakopoulos, K.J.: EMG-based control of a robot arm using low-dimensional embeddings. IEEE Trans. Robot. 26(2), 393\u2013398 (2010)","journal-title":"IEEE Trans. Robot."},{"key":"55_CR3","first-page":"1407","volume":"2","author":"T Asfour","year":"2003","unstructured":"Asfour, T., Dillmann, R.: Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem. Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst. 2, 1407\u20131412 (2003)","journal-title":"Proc. IEEE\/RSJ Int. Conf. Intell. Robot. Syst."},{"key":"55_CR4","doi-asserted-by":"crossref","unstructured":"Bagnell, J.A., Cavalcanti, F., Cui, L.: An integrated system for autonomous robotics manipulation. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2955\u20132962 (2012)","DOI":"10.1109\/IROS.2012.6385888"},{"key":"55_CR5","doi-asserted-by":"crossref","unstructured":"Beetz, M., Klank, U., Kresse, I., Maldonado, A., M\u00f6senlechner, L., Pangercic, D., R\u00fchr, T., Tenorth, M.: Robotic roommates making pancakes. In: 11th IEEE-RAS International Conference on Humanoid Robots (2011)","DOI":"10.1109\/Humanoids.2011.6100855"},{"key":"55_CR6","doi-asserted-by":"crossref","unstructured":"Berg, J., Miller, S., Goldberg, K., Abbeel, P.: Gravity-Based Robotic Cloth Folding, pp 409\u2013424. Springer Berlin Heidelberg (2011)","DOI":"10.1007\/978-3-642-17452-0_24"},{"key":"55_CR7","first-page":"1","volume":"941","author":"A Billard","year":"2001","unstructured":"Billard, A.: Learning human arm movements by imitation: evaluation of a biologically inspired connectionist architecture. Robot. Auton. Syst. 941, 1\u201316 (2001)","journal-title":"Robot. Auton. Syst."},{"key":"55_CR8","doi-asserted-by":"crossref","unstructured":"Caggiano, V., De Santis, A., Siciliano, B., Chianese, A.: A biomimetic approach to mobility distribution for a human-like redundant arm. In: Proceedings of the IEEE\/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 393\u2013398 (2006)","DOI":"10.1109\/BIOROB.2006.1639119"},{"issue":"2","key":"55_CR9","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1016\/S0001-6918(02)00031-8","volume":"110","author":"S Cardoso de Oliveira","year":"2002","unstructured":"Cardoso de Oliveira, S.: The neuronal basis of bimanual coordination: recent neurophysiological evidence and functional models. Acta Psychol. 110(2), 139\u2013159 (2002)","journal-title":"Acta Psychol."},{"issue":"6","key":"55_CR10","doi-asserted-by":"crossref","first-page":"519","DOI":"10.1007\/BF00205114","volume":"62","author":"H Cruse","year":"1990","unstructured":"Cruse, H., Wischmeyer, E., Bruser, M., Brockfeld, P., Dress, A.: On the cost functions for the control of the human arm movement. Biol. Cybern. 62(6), 519\u2013528 (1990)","journal-title":"Biol. Cybern."},{"key":"55_CR11","unstructured":"Cutkosky, M.R.: On grasp choice, grasp models, and the design of hands for manufacturing tasks. IEEE Trans. Robot. Autom. 5(3), 269\u2013279 (1989)"},{"issue":"4","key":"55_CR12","doi-asserted-by":"crossref","first-page":"1416","DOI":"10.1016\/j.neuroimage.2003.12.011","volume":"21","author":"F Debaere","year":"2004","unstructured":"Debaere, F., Wenderoth, N., Sunaert, S., Van Hecke, P., Swinnen, S.P.: Cerebellar and premotor function in bimanual coordination: parametric neural responses to spatiotemporal complexity and cycling frequency. Neuroimage 21(4), 1416\u20131427 (2004)","journal-title":"Neuroimage"},{"key":"55_CR13","doi-asserted-by":"crossref","unstructured":"Do, M., Azad, P., Asfour, T., Dillmann, R.: Imitation of human motion on a humanoid robot using non-linear optimization. In: 8th IEEE-RAS International Conference on Humanoid Robots, pp. 545\u2013552 (2008)","DOI":"10.1109\/ICHR.2008.4756029"},{"key":"55_CR14","doi-asserted-by":"crossref","first-page":"1688","DOI":"10.1523\/JNEUROSCI.05-07-01688.1985","volume":"5","author":"T Flash","year":"1985","unstructured":"Flash, T., Hogan, N.: The coordination of arm movements: an experimentally confirmed mathematical model. J. Neurosci. 5, 1688\u20131703 (1985)","journal-title":"J. Neurosci."},{"issue":"1","key":"55_CR15","doi-asserted-by":"crossref","first-page":"87","DOI":"10.1016\/S0021-9290(01)00160-9","volume":"35","author":"SSHU Gamage","year":"2002","unstructured":"Gamage, S.S.H.U., Lasenby, J.: New least squares solutions for estimating the average centre of rotation and the axis of rotation. J. Biomech. 35(1), 87\u201393 (2002)","journal-title":"J. Biomech."},{"key":"55_CR16","unstructured":"Gharbi, M., Cortes, J., Simeon, T.: A sampling-based path planner for dual-arm manipulation. In: IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, 2008. AIM 2008, pp. 383\u2013388 (2008)"},{"key":"55_CR17","doi-asserted-by":"crossref","unstructured":"Gribovskaya, E., Billard, A.: Combining dynamical systems control and programming by demonstration for teaching discrete bimanual coordination tasks to a humanoid robot. In: 3rd ACM\/IEEE International Conference on Human-Robot Interaction, pp. 33\u201340 (2008)","DOI":"10.1145\/1349822.1349828"},{"issue":"1","key":"55_CR18","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1016\/0921-8890(94)00016-U","volume":"14","author":"H H\u00e4rtl","year":"1995","unstructured":"H\u00e4rtl, H.: Dextrous manipulation with multifingered robot hands including rolling and slipping of the fingertips. Robot. Auton. Syst. 14(1), 29\u201353 (1995)","journal-title":"Robot. Auton. Syst."},{"key":"55_CR19","unstructured":"Hwang, M.J., Lee, D.Y., Chung, S.Y.: Motion Planning of bimanual robot for assembly. In: IEEE International Conference on Systems, Man and Cybernetics, 2007. ISIC, pp. 240\u2013245 (2007)"},{"key":"55_CR20","unstructured":"Jackson, J.E.: A user\u2019s guide to principal components, vol. 587. Wiley (2005)"},{"issue":"1","key":"55_CR21","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1177\/027836498600500106","volume":"5","author":"O Khatib","year":"1986","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robot. Res. 5(1), 90\u201398 (1986)","journal-title":"Int. J. Robot. Res."},{"key":"55_CR22","doi-asserted-by":"crossref","unstructured":"Kim, C., Kim, D., Oh, Y.: Solving an inverse kinematics problem for a humanoid robots imitation of human motions using optimization. In: Proceedings of International Conference on Informatics in Control Automation and Robotics, pp. 85\u201392 (2005)","DOI":"10.5220\/0001180100850092"},{"key":"55_CR23","doi-asserted-by":"crossref","unstructured":"Kulic, D., Takano, W., Nakamura, Y.: Representability of human motions by factorial hidden markov models. In: Proceedings of IEEE\/RSJ International Conference Intelligent Robots and Systems, pp. 2388\u20132393 (2007)","DOI":"10.1109\/IROS.2007.4399325"},{"key":"55_CR24","doi-asserted-by":"crossref","unstructured":"Lee, J., Sato, M., Wada, Y., Koike, Y.: Extraction of motor primitive in consideration of arm posture, movement direction and velocity using hidden markov model. In: Proceedings of the IEEE-EMBS Annual International Conference of the Engineering in Medicine and Biology Society, pp. 4385\u20134388 (2005)","DOI":"10.1109\/IEMBS.2005.1615437"},{"key":"55_CR25","unstructured":"McLachlan, G., Peel, D.: Finite Mixture Models. Wiley (2004)"},{"issue":"3","key":"55_CR26","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1007\/s10514-009-9127-x","volume":"27","author":"V Mohan","year":"2009","unstructured":"Mohan, V., Morasso, P., Metta, G., Sandini, G.: A biomimetic, force-field based computational model for motion planning and bimanual coordination in humanoid robots. Auton. Robot. 27(3), 291\u2013307 (2009)","journal-title":"Auton. Robot."},{"key":"55_CR27","first-page":"1390","volume":"2","author":"NS Pollard","year":"2002","unstructured":"Pollard, N.S., Hodgins, J.K., Riley, M. J., Atkeson, C. G.: Adapting human motion for the control of a humanoid robot. Proc. IEEE Int. Conf. Robot. Autom. 2, 1390\u20131397 (2002)","journal-title":"Proc. IEEE Int. Conf. Robot. Autom."},{"key":"55_CR28","doi-asserted-by":"crossref","first-page":"790","DOI":"10.1109\/3477.735389","volume":"28","author":"V Potkonjak","year":"1998","unstructured":"Potkonjak, V., Popovic, M., Lazarevic, M., Sinanovic, J.: Redundancy problem in writing: from human to anthropomorphic robot arm. IEEE Trans. Syst. Man Cybern. B 28, 790\u2013805 (1998)","journal-title":"IEEE Trans. Syst. Man Cybern. B"},{"key":"55_CR29","doi-asserted-by":"crossref","unstructured":"Ruhr, T., Sturm, J., Pangercic, D., Beetz, M., Cremers, D.: A generalized framework for opening doors and drawers in kitchen environments. In: Proceedings IEEE International Conference on Robotics and Automation (ICRA), pp. 3852\u20133858 (2012)","DOI":"10.1109\/ICRA.2012.6224929"},{"key":"55_CR30","unstructured":"Schaal, S., Kotosaka, S., Sternad, D.: Nonlinear dynamical systems as movement primitives. In: IEEE International Conference on Humanoid Robotics, pp. 1\u201311 (2000)"},{"key":"55_CR31","doi-asserted-by":"crossref","unstructured":"Sciavicco, L., Siciliano, B.:Modeling and Control of Robot Manipulators. Springer (2000)","DOI":"10.1007\/978-1-4471-0449-0"},{"key":"55_CR32","doi-asserted-by":"crossref","unstructured":"Shi, J.Q., Choi, T.: Gaussian Process Regression Analysis for Functional Data. CRC Press (2011)","DOI":"10.1201\/b11038"},{"key":"55_CR33","unstructured":"Sian, N., Sakaguchi, T., Yokoi, K., Kawai, Y.: Operating humanoid robots in human environments. In: Proceedings of the Robotics, Science & Systems Workshop on Manipulation for Human Environments, Philadelphia (2006)"},{"key":"55_CR34","doi-asserted-by":"crossref","first-page":"1340","DOI":"10.1016\/j.robot.2012.07.005","volume":"60","author":"C Smith","year":"2012","unstructured":"Smith, C., Karayiannidis, Y., Nalpantidis, L., Gratal, X., Qi, P., Dimarogonas, D. V., Kragic, D.: Dual arm manipulation\u2014a survey. Robot. Auton. Syst. 60, 1340\u20131353 (2012)","journal-title":"Robot. Auton. Syst."},{"key":"55_CR35","doi-asserted-by":"crossref","unstructured":"Steffen, J., Elbrechter, C., Haschke, R., Ritter, H.: Bio-inspired motion strategies for a bimanual manipulation task. In: 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 625\u2013630 (2010)","DOI":"10.1109\/ICHR.2010.5686830"},{"key":"55_CR36","doi-asserted-by":"crossref","unstructured":"Steffen, J., Pardowitz, M., Ritter, H.: Using structured UKR manifolds for motion classification and segmentation. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4785\u20134790 (2009)","DOI":"10.1109\/IROS.2009.5354030"},{"key":"55_CR37","doi-asserted-by":"crossref","unstructured":"Temprado, J.J., Swinnen, S.P., Carson, R.G., Tourment, A., Laurent, M.: Interaction of directional, neuromuscular and egocentric constraints on the stability of preferred bimanual coordination patterns, Human movement science (2003)","DOI":"10.1016\/S0167-9457(03)00049-6"},{"issue":"3\u20135","key":"55_CR38","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1177\/0278364904042199","volume":"23","author":"T Inamura","year":"2004","unstructured":"Inamura, T., Toshima, I., Tanie, H., Nakamura, Y.: Embodied symbol emergence based on mimesis theory. Int. J. Robot. Res. 23(3\u20135), 363\u2013377 (2004)","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"55_CR39","doi-asserted-by":"crossref","first-page":"463","DOI":"10.1007\/BF00230426","volume":"107","author":"PJ Treffner","year":"1996","unstructured":"Treffner, P.J., Turvey, M.T.: Symmetry, broken symmetry, and handedness in bimanual coordination dynamics. Exp. Brain Res. 107(3), 463\u2013478 (1996)","journal-title":"Exp. Brain Res."},{"issue":"2","key":"55_CR40","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1016\/j.robot.2004.03.004","volume":"47","author":"A Ude","year":"2004","unstructured":"Ude, A., Atkeson, C.G., Riley, M.: Programming full-body movements for humanoid robots by observation. Robot. Auton. Syst. 47(2), 93\u2013108 (2004)","journal-title":"Robot. Auton. Syst."},{"key":"55_CR41","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1007\/BF00204593","volume":"61","author":"Y Uno","year":"1989","unstructured":"Uno, Y., Kawato, M., Suzuki, R.: Formation and control of optimal trajectory in human multijoint arm movement. Biol. Cybern. 61, 89\u2013101 (1989)","journal-title":"Biol. Cybern."},{"key":"55_CR42","doi-asserted-by":"crossref","unstructured":"Zacharias, F., Leidner, D., Schmidt, F., Borst, C., Hirzinger, G.: Exploiting structure in two-armed manipulation tasks for humanoid robots. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5446\u20135452 (2010)","DOI":"10.1109\/IROS.2010.5651121"},{"issue":"2","key":"55_CR43","doi-asserted-by":"crossref","first-page":"462","DOI":"10.1016\/j.neuroimage.2004.11.007","volume":"25","author":"J Zhuang","year":"2005","unstructured":"Zhuang, J., LaConte, S., Peltier, S., Zhang, K., Hu, X.: Connectivity exploration with structural equation modeling: an fMRI study of bimanual motor coordination. Neuroimage 25(2), 462\u2013470 (2005)","journal-title":"Neuroimage"},{"key":"55_CR44","doi-asserted-by":"crossref","unstructured":"Zollner, R, Asfour, T, Dillmann, R.: Programming by demonstration: dual-arm manipulation tasks for humanoid robots. In: 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 479\u2013484 (2004)","DOI":"10.1109\/IROS.2004.1389398"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0055-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-014-0055-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0055-4","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,2]],"date-time":"2025-05-02T11:26:22Z","timestamp":1746185182000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-014-0055-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4,17]]},"references-count":44,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2015,4]]}},"alternative-id":["55"],"URL":"https:\/\/doi.org\/10.1007\/s10846-014-0055-4","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"type":"print","value":"0921-0296"},{"type":"electronic","value":"1573-0409"}],"subject":[],"published":{"date-parts":[[2014,4,17]]}}}