{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T16:43:42Z","timestamp":1775666622010,"version":"3.50.1"},"reference-count":51,"publisher":"SAGE Publications","issue":"2-3","license":[{"start":{"date-parts":[[2020,8,24]],"date-time":"2020-08-24T00:00:00Z","timestamp":1598227200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001711","name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","doi-asserted-by":"publisher","award":["TACT-HAND"],"award-info":[{"award-number":["TACT-HAND"]}],"id":[{"id":"10.13039\/501100001711","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2021,2]]},"abstract":"<jats:p> Body posture influences human and robot performance in manipulation tasks, as appropriate poses facilitate motion or the exertion of force along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze, control, and design the robot dexterity as a function of the articulatory joint configuration. This descriptor can be designed according to different task requirements, such as tracking a desired position or applying a specific force. In this context, this article presents a novel manipulability transfer framework, a method that allows robots to learn and reproduce manipulability ellipsoids from expert demonstrations. The proposed learning scheme is built on a tensor-based formulation of a Gaussian mixture model that takes into account that manipulability ellipsoids lie on the manifold of symmetric positive-definite matrices. Learning is coupled with a geometry-aware tracking controller allowing robots to follow a desired profile of manipulability ellipsoids. Extensive evaluations in simulation with redundant manipulators, a robotic hand and humanoids agents, as well as an experiment with two real dual-arm systems validate the feasibility of the approach. <\/jats:p>","DOI":"10.1177\/0278364920946815","type":"journal-article","created":{"date-parts":[[2020,8,25]],"date-time":"2020-08-25T08:06:14Z","timestamp":1598342774000},"page":"624-650","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":55,"title":["Geometry-aware manipulability learning, tracking, and transfer"],"prefix":"10.1177","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3565-9414","authenticated-orcid":false,"given":"No\u00e9mie","family":"Jaquier","sequence":"first","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"}]},{"given":"Leonel","family":"Rozo","sequence":"additional","affiliation":[{"name":"Bosch Center for Artificial Intelligence, Renningen, Germany"},{"name":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"}]},{"given":"Darwin G","family":"Caldwell","sequence":"additional","affiliation":[{"name":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"}]},{"given":"Sylvain","family":"Calinon","sequence":"additional","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"}]}],"member":"179","published-online":{"date-parts":[[2020,8,24]]},"reference":[{"key":"bibr1-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139300"},{"key":"bibr2-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989398"},{"key":"bibr3-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206447"},{"key":"bibr4-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1016\/j.sigpro.2006.02.050"},{"key":"bibr5-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(95)00069-B"},{"key":"bibr6-0278364920946815","first-page":"2313","author":"Chiacchio P","year":"1990","journal-title":"American Control Conference"},{"key":"bibr7-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(199708)14:8<613::AID-ROB3>3.0.CO;2-P"},{"key":"bibr8-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/70.97880"},{"key":"bibr9-0278364920946815","first-page":"2192","author":"Chiacchio P","year":"1991","journal-title":"IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"bibr10-0278364920946815","first-page":"1718","author":"Chiu SL","year":"1987","journal-title":"IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"bibr11-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700502"},{"key":"bibr12-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00975.2010"},{"key":"bibr13-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-2201-7"},{"key":"bibr14-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/70.388791"},{"key":"bibr15-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-013-3766-z"},{"key":"bibr16-0278364920946815","volume-title":"Intrinsic Statistical Techniques for Robust Pose Estimation","author":"Dubbelman G","year":"2011"},{"key":"bibr17-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2014.179"},{"key":"bibr18-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139906"},{"key":"bibr19-0278364920946815","first-page":"2017","author":"Guilamo L","year":"2006","journal-title":"IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"bibr20-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202138"},{"key":"bibr21-0278364920946815","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.027"},{"key":"bibr22-0278364920946815","first-page":"2475","author":"Kim W","year":"2010","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"bibr23-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1137\/07070111X"},{"key":"bibr24-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-015-0225-z"},{"key":"bibr25-0278364920946815","first-page":"1458","author":"Lee J","year":"1997","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"bibr26-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4419-9982-5"},{"key":"bibr27-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1109\/70.88020"},{"key":"bibr28-0278364920946815","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600304"},{"key":"bibr29-0278364920946815","doi-asserted-by":"crossref","unstructured":"Mistry M, Nakanishi J, Cheng G, Schaal S (2008) Inverse kinematics with floating base and constraints for full body humanoid robot control. 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