{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T07:19:53Z","timestamp":1760080793395,"version":"3.40.5"},"reference-count":24,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2023,4,24]],"date-time":"2023-04-24T00:00:00Z","timestamp":1682294400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Dynamical movement primitives (DMPs) method is a useful tool for efficient robotic skills learning from human demonstrations. However, the DMPs method should know the specified constraints of tasks in advance. One flexible solution is to introduce the human superior experience as part of input. In this paper, we propose a framework for robot learning based on demonstration and supervision. Superior experience supplied by teleoperation is introduced to deal with unknown environment constrains and correct the demonstration for next execution. DMPs model with integral barrier Lyapunov function is used to deal with the constrains in robot learning. Additionally, a radial basis function neural network based controller is developed for teleoperation and the robot to track the generated motions. Then, we prove convergence of the generated path and controller. Finally, we deploy the novel framework with two touch robots to certify its effectiveness.<\/jats:p>","DOI":"10.1017\/s0263574723000462","type":"journal-article","created":{"date-parts":[[2023,4,24]],"date-time":"2023-04-24T11:49:24Z","timestamp":1682336964000},"page":"2451-2463","source":"Crossref","is-referenced-by-count":2,"title":["A constrained framework based on IBLF for robot learning with human supervision"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2189-837X","authenticated-orcid":false,"given":"Donghao","family":"Shi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qinchuan","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chenguang","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenyu","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2023,4,24]]},"reference":[{"key":"S0263574723000462_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2008.11.017"},{"key":"S0263574723000462_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2304775"},{"key":"S0263574723000462_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"S0263574723000462_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989334"},{"key":"S0263574723000462_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/S0079-6123(06)65027-9"},{"key":"S0263574723000462_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2016.01.064"},{"key":"S0263574723000462_ref14","unstructured":"[14] Sheridan, T. 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Mech."},{"key":"S0263574723000462_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3159163"},{"volume-title":"Learning the Correct Robot Trajectory in Real-Time From Physical Human Interactions","year":"2019","author":"Losey","key":"S0263574723000462_ref11"},{"key":"S0263574723000462_ref5","doi-asserted-by":"crossref","unstructured":"[5] Lioutikov, R. , Neumann, G. , Maeda, G. , Peters, J. and IEEE, Probabilistic Segmentation Applied to an Assembly Task, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (IEEE-RAS International Conference on Humanoid Robots), (2015) pp. 533\u2013540.","DOI":"10.1109\/HUMANOIDS.2015.7363584"},{"key":"S0263574723000462_ref1","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/j.robot.2004.03.001","article-title":"Learning from demonstration","volume":"47","author":"Atkeson","year":"2004","journal-title":"Robot. Auton. 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Mech."},{"key":"S0263574723000462_ref16","first-page":"1","article-title":"Neural control of robot manipulators with trajectory tracking constraints and input saturation","volume":"99","author":"Yang","journal-title":"IEEE Trans. Neural Netw. Learn. Syst."},{"key":"S0263574723000462_ref7","first-page":"4406","article-title":"Automate surgical tasks for a flexible serpentine manipulator via learning actuation space trajectory from demonstration","author":"Xu","year":"2016","journal-title":"IEEE Int. Conf. Robot. Autom."},{"key":"S0263574723000462_ref8","doi-asserted-by":"crossref","unstructured":"[8] Osa, T. , Harada, K. , Sugita, N. , Mitsuishi, M. and IEEE, Trajectory Planning under Different Initial Conditions for Surgical Task Automation by Learning from Demonstration, 2014 IEEE International Conference on Robotics and Automation (IEEE International Conference on Robotics and Automation ICRA), (2014) pp. 6507\u20136513.","DOI":"10.1109\/ICRA.2014.6907819"},{"key":"S0263574723000462_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2016.7576815"},{"key":"S0263574723000462_ref20","first-page":"1","article-title":"Admittance-based controller design for physical human-robot interaction in the constrained task space","volume":"99","author":"He","year":"2020","journal-title":"IEEE Trans. Autom. Sci. Eng."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574723000462","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,8,9]],"date-time":"2023-08-09T03:25:37Z","timestamp":1691551537000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574723000462\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,4,24]]},"references-count":24,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2023,8]]}},"alternative-id":["S0263574723000462"],"URL":"https:\/\/doi.org\/10.1017\/s0263574723000462","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2023,4,24]]}}}