{"id":"https://openalex.org/W3006800350","doi":"https://doi.org/10.1108/ir-10-2019-0217","title":"Human\u2013robot shared control for humanoid manipulator trajectory planning","display_name":"Human\u2013robot shared control for humanoid manipulator trajectory planning","publication_year":2020,"publication_date":"2020-02-21","ids":{"openalex":"https://openalex.org/W3006800350","doi":"https://doi.org/10.1108/ir-10-2019-0217","mag":"3006800350"},"language":"en","primary_location":{"id":"doi:10.1108/ir-10-2019-0217","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2019-0217","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082909984","display_name":"Yuanchao Zhu","orcid":"https://orcid.org/0000-0001-9148-9988"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanchao Zhu","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021494299","display_name":"Canjun Yang","orcid":"https://orcid.org/0000-0002-3712-0538"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Canjun Yang","raw_affiliation_strings":["Department of Mechanical Engineering, The State Key Laboratory of Fluid Power Transmission and Control, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The State Key Laboratory of Fluid Power Transmission and Control, Hangzhou, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046902240","display_name":"Qianxiao Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianxiao Wei","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027384607","display_name":"Xin Wu","orcid":"https://orcid.org/0000-0002-8293-5517"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wu","raw_affiliation_strings":["School of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058474186","display_name":"Wei Yang","orcid":"https://orcid.org/0000-0002-7920-6460"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yang","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5315,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.80797756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"47","issue":"3","first_page":"395","last_page":"407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6215004920959473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5944671034812927},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5778094530105591},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5038780570030212},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.45049750804901123},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44835716485977173},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44647538661956787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4415968060493469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44143879413604736},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4325392246246338},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.41944241523742676},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3634977340698242},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3211459815502167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3066263794898987},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29016345739364624},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26813068985939026}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6215004920959473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5944671034812927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5778094530105591},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5038780570030212},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.45049750804901123},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44835716485977173},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44647538661956787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4415968060493469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44143879413604736},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4325392246246338},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.41944241523742676},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3634977340698242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3211459815502167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3066263794898987},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29016345739364624},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26813068985939026},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-10-2019-0217","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-10-2019-0217","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1967904302","https://openalex.org/W1972239908","https://openalex.org/W1994634749","https://openalex.org/W2000867344","https://openalex.org/W2019526129","https://openalex.org/W2043536379","https://openalex.org/W2049809359","https://openalex.org/W2060350815","https://openalex.org/W2078160076","https://openalex.org/W2087162676","https://openalex.org/W2098516422","https://openalex.org/W2105314797","https://openalex.org/W2105925198","https://openalex.org/W2116243329","https://openalex.org/W2141275328","https://openalex.org/W2203944465","https://openalex.org/W2209721271","https://openalex.org/W2280792794","https://openalex.org/W2320004782","https://openalex.org/W2511957348","https://openalex.org/W2563016602","https://openalex.org/W2588730826","https://openalex.org/W2592413607","https://openalex.org/W2612937991","https://openalex.org/W2728569675","https://openalex.org/W2750092202","https://openalex.org/W2762522875","https://openalex.org/W2769520592","https://openalex.org/W2790754119","https://openalex.org/W2896815268","https://openalex.org/W2963356193","https://openalex.org/W3103977930","https://openalex.org/W4211151345"],"related_works":["https://openalex.org/W2975200075","https://openalex.org/W2979649235","https://openalex.org/W2007544051","https://openalex.org/W2540925674","https://openalex.org/W4287124629","https://openalex.org/W2392565008","https://openalex.org/W1837097281","https://openalex.org/W1966410754","https://openalex.org/W2363840281","https://openalex.org/W2325242284"],"abstract_inverted_index":{"Purpose":[0],"This":[1],"paper":[2],"aims":[3],"to":[4,11,26,62,74,105,143,179,186],"propose":[5],"an":[6,37],"intuitive":[7],"shared":[8,172,225,229],"control":[9,12,173,197,226,230],"strategy":[10],"a":[13,28,43,48,200,246,250],"humanoid":[14],"manipulator":[15,44,116],"that":[16,41,51,75,170],"can":[17,175],"fully":[18],"combine":[19],"the":[20,53,56,64,68,71,83,90,94,99,106,111,115,123,128,140,145,148,156,171,180,188,196,224,234,241],"advantages":[21,181],"of":[22,36,42,55,70,76,82,93,114,127,152,159,182],"humans":[23,183],"and":[24,40,47,85,125,154,165,184,192,210,233,238,243],"machines":[25],"produce":[27],"stronger":[29],"intelligent":[30],"form.":[31],"Design/methodology/approach":[32],"The":[33,80,134,228],"working":[34],"space":[35],"operator\u2019s":[38,72],"arm":[39],"are":[45,87,131],"matched,":[46],"genetic":[49],"algorithm":[50],"limits":[52],"position":[54],"manipulator\u2019s":[57],"elbow":[58],"joint":[59,112],"is":[60,78,96,102,117,139,217,236],"used":[61],"find":[63],"optimal":[65,141],"solution.":[66],"Then,":[67],"mapping":[69,215],"action":[73,92,214],"manipulators":[77],"realized.":[79],"controls":[81],"human":[84,201,232],"robot":[86,203,235],"integrated.":[88],"First,":[89],"current":[91,129],"operator":[95,221],"input.":[97],"Second,":[98],"target":[100,161,189],"object":[101],"predicted":[103],"according":[104],"maximum":[107],"entropy":[108],"hypothesis.":[109],"Third,":[110],"angle":[113],"interpolated":[118],"based":[119],"on":[120,204],"time.":[121],"Finally,":[122],"confidence":[124],"weight":[126,136,146],"moment":[130],"calculated.":[132],"Findings":[133],"modified":[135],"adjustment":[137],"method":[138,216],"way":[142,248],"adjust":[144],"during":[147],"task.":[149],"In":[150],"terms":[151],"time":[153],"accuracy,":[155],"experimental":[157],"results":[158],"single":[160],"obstacle":[162],"avoidance":[163],"grabbing":[164,168],"multi-target":[166],"predictive":[167],"show":[169],"mode":[174],"provide":[176],"full":[177],"play":[178],"robots":[185],"accomplish":[187],"task":[190],"faster":[191],"more":[193],"accurately":[194],"than":[195],"merely":[198],"by":[199],"or":[202],"its":[205],"own.":[206],"Originality/value":[207],"A":[208],"flexible":[209],"highly":[211],"anthropomorphic":[212],"human\u2013robot":[213,252],"proposed,":[218],"which":[219],"provides":[220],"decisions":[222],"in":[223],"process.":[227],"between":[231],"realized,":[237],"it":[239],"enhances":[240],"rapidity":[242],"intelligence,":[244],"paving":[245],"new":[247],"for":[249],"novel":[251],"collaboration.":[253]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}
