{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:35Z","timestamp":1754155415369,"version":"3.41.2"},"reference-count":38,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2021,6,17]],"date-time":"2021-06-17T00:00:00Z","timestamp":1623888000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2021,8,19]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to introduce an imitation learning framework for a wheeled mobile manipulator based on dynamical movement primitives (DMPs). A novel mobile manipulator with the capability to learn from demonstration is introduced. Then, this study explains the whole process for a wheeled mobile manipulator to learn a demonstrated task and generalize to new situations. Two visual tracking controllers are designed for recording human demonstrations and monitoring robot operations. The study clarifies how human demonstrations can be learned and generalized to new situations by a wheel mobile manipulator.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The kinematic model of a mobile manipulator is analyzed. An RGB-D camera is applied to record the demonstration trajectories and observe robot operations. To avoid human demonstration behaviors going out of sight of the camera, a visual tracking controller is designed based on the kinematic model of the mobile manipulator. The demonstration trajectories are then represented by DMPs and learned by the mobile manipulator with corresponding models. Another tracking controller is designed based on the kinematic model of the mobile manipulator to monitor and modify the robot operations.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>To verify the effectiveness of the imitation learning framework, several daily tasks are demonstrated and learned by the mobile manipulator. The results indicate that the presented approach shows good performance for a wheeled mobile manipulator to learn tasks through human demonstrations. The only thing a robot-user needs to do is to provide demonstrations, which highly facilitates the application of mobile manipulators.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The research fulfills the need for a wheeled mobile manipulator to learn tasks via demonstrations instead of manual planning. Similar approaches can be applied to mobile manipulators with different architecture.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2020-0255","type":"journal-article","created":{"date-parts":[[2021,6,15]],"date-time":"2021-06-15T23:53:46Z","timestamp":1623801226000},"page":"556-568","source":"Crossref","is-referenced-by-count":3,"title":["Imitation learning of a wheeled mobile manipulator based on dynamical movement primitives"],"prefix":"10.1108","volume":"48","author":[{"given":"Zeguo","family":"Yang","sequence":"first","affiliation":[]},{"given":"Mantian","family":"Li","sequence":"additional","affiliation":[]},{"given":"Fusheng","family":"Zha","sequence":"additional","affiliation":[]},{"given":"Xin","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Pengfei","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Wei","family":"Guo","sequence":"additional","affiliation":[]}],"member":"140","published-online":{"date-parts":[[2021,6,17]]},"reference":[{"issue":"5","key":"key2021081811094121800_ref001","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","article-title":"A survey of robot learning from demonstration","volume":"57","year":"2009","journal-title":"Robotics and Autonomous Systems"},{"issue":"1","key":"key2021081811094121800_ref002","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1017\/S0263574717000133","article-title":"Constrained model predictive control for mobile robotic manipulators","volume":"36","year":"2018","journal-title":"Robotica"},{"issue":"01","key":"key2021081811094121800_ref003","doi-asserted-by":"crossref","first-page":"1250006","DOI":"10.1142\/S0219843612500065","article-title":"A survey of vision-based architectures for robot learning by imitation","volume":"09","year":"2012","journal-title":"International Journal of Humanoid Robotics"},{"issue":"6","key":"key2021081811094121800_ref004","doi-asserted-by":"crossref","first-page":"1291","DOI":"10.1007\/s10514-018-9706-9","article-title":"Kinesthetic teaching and attentional supervision of structured tasks in human crobot interaction","volume":"43","year":"2019","journal-title":"Autonomous Robots"},{"key":"key2021081811094121800_ref005","doi-asserted-by":"crossref","first-page":"1641","DOI":"10.1109\/ICMA.2016.7558810","article-title":"A framework of teleoperated and stereo vision guided mobile manipulation for industrial automation","volume-title":"2016 IEEE International Conference on Mechatronics and Automation","year":"2016"},{"issue":"2","key":"key2021081811094121800_ref006","doi-asserted-by":"crossref","first-page":"1202","DOI":"10.1109\/TII.2018.2879426","article-title":"Dexterous grasping by manipulability selection for mobile manipulator with visual guidance","volume":"15","year":"2019","journal-title":"IEEE Transactions on Industrial Informatics"},{"first-page":"103","article-title":"Whole-body modeling and hierarchical control of a humanoid robot based on dual quaternion algebra","year":"2016","key":"key2021081811094121800_ref007"},{"issue":"3","key":"key2021081811094121800_ref008","first-page":"1","article-title":"Whole-body impedance control of wheeled mobile manipulators","volume":"40","year":"2016","journal-title":"Autonomous Robots"},{"key":"key2021081811094121800_ref009","doi-asserted-by":"crossref","first-page":"3411","DOI":"10.1109\/ICRA.2017.7989388","article-title":"Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control","volume-title":"2017 IEEE International Conference on Robotics and Automation (ICRA)","year":"2017"},{"first-page":"638","article-title":"Optimal path planning for mobile manipulator based on manipulability and localizability","year":"2016","key":"key2021081811094121800_ref010"},{"issue":"8","key":"key2021081811094121800_ref011","doi-asserted-by":"crossref","first-page":"732","DOI":"10.1177\/02783640022067139","article-title":"Coordinated motion planning for a mobile manipulator considering stability and manipulation","volume":"19","year":"2000","journal-title":"The International Journal of Robotics Research"},{"issue":"2","key":"key2021081811094121800_ref012","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1162\/NECO_a_00393","article-title":"Dynamical movement primitives: learning attractor models for motor behaviors","volume":"25","year":"2013","journal-title":"Neural Computation"},{"key":"key2021081811094121800_ref013","doi-asserted-by":"crossref","first-page":"1398","DOI":"10.1109\/ROBOT.2002.1014739","article-title":"Movement imitation with nonlinear dynamical systems in humanoid robots","volume":"2","year":"2002","journal-title":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. 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