{"id":"https://openalex.org/W4312842059","doi":"https://doi.org/10.1109/case49997.2022.9926513","title":"A Multi-objective Optimization Approach for Trajectory Planning in a Safe and Ergonomic Human-Robot Collaboration","display_name":"A Multi-objective Optimization Approach for Trajectory Planning in a Safe and Ergonomic Human-Robot Collaboration","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312842059","doi":"https://doi.org/10.1109/case49997.2022.9926513"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926513","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5027421440","display_name":"Silvia Proia","orcid":"https://orcid.org/0000-0002-3801-4745"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Silvia Proia","raw_affiliation_strings":["The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy"],"affiliations":[{"raw_affiliation_string":"The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","institution_ids":["https://openalex.org/I68618741"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001463495","display_name":"Graziana Cavone","orcid":"https://orcid.org/0000-0001-7102-4542"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Graziana Cavone","raw_affiliation_strings":["The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy"],"affiliations":[{"raw_affiliation_string":"The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","institution_ids":["https://openalex.org/I68618741"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038870263","display_name":"Raffaele Carli","orcid":"https://orcid.org/0000-0001-9184-6017"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Raffaele Carli","raw_affiliation_strings":["The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy"],"affiliations":[{"raw_affiliation_string":"The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","institution_ids":["https://openalex.org/I68618741"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013936778","display_name":"Mariagrazia Dotoli","orcid":"https://orcid.org/0000-0003-1459-3452"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mariagrazia Dotoli","raw_affiliation_strings":["The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy"],"affiliations":[{"raw_affiliation_string":"The Polytechnic of Bari,Department of Electrical and Information Engineering,Italy","institution_ids":["https://openalex.org/I68618741"]},{"raw_affiliation_string":"Department of Electrical and Information Engineering, The Polytechnic of Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027421440"],"corresponding_institution_ids":["https://openalex.org/I68618741"],"apc_list":null,"apc_paid":null,"fwci":0.6686,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64901793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"41","issue":null,"first_page":"2068","last_page":"2073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T13722","display_name":"Ergonomics and Human Factors","score":0.9882000088691711,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.9793000221252441,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6793268322944641},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6426677107810974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6032933592796326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.572323203086853},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.46445441246032715},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4599567651748657},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2858414947986603}],"concepts":[{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6793268322944641},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6426677107810974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6032933592796326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.572323203086853},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.46445441246032715},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4599567651748657},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2858414947986603},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case49997.2022.9926513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926513","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma3.it:11590/424859","is_oa":false,"landing_page_url":"https://hdl.handle.net/11590/424859","pdf_url":null,"source":{"id":"https://openalex.org/S4377196120","display_name":"Iris (Roma Tre University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119003972","host_organization_name":"Roma Tre University","host_organization_lineage":["https://openalex.org/I119003972"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1970412155","https://openalex.org/W2024097232","https://openalex.org/W2087149139","https://openalex.org/W2221752174","https://openalex.org/W2337949295","https://openalex.org/W2952990628","https://openalex.org/W2955189310","https://openalex.org/W2963052535","https://openalex.org/W2998865449","https://openalex.org/W3003589552","https://openalex.org/W3045522824","https://openalex.org/W3164088261","https://openalex.org/W3205501086","https://openalex.org/W4205258958","https://openalex.org/W4214565075","https://openalex.org/W4214598101","https://openalex.org/W4250589301","https://openalex.org/W6703145267","https://openalex.org/W6805265221"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W4366818884"],"abstract_inverted_index":{"In":[0,21,49],"today\u2019s":[1],"manufacturing":[2],"companies":[3],"that":[4,181],"rely":[5],"on":[6,114,118,194],"Human-Robot":[7],"Collaboration":[8],"(HRC),":[9],"ensuring":[10],"a":[11,22,34,51,115,119,127,138,153,163,169],"safe":[12,60],"and":[13,40,61,85,149,155,175,197],"ergonomic":[14,62,110],"workplace":[15],"is":[16,64,112,124,160,173,192],"becoming":[17],"of":[18,33,69,79,99,130,141,206],"pivotal":[19],"importance.":[20],"collaborative":[23,35],"assembly":[24],"scenario,":[25],"this":[26],"paper":[27],"aims":[28],"at":[29],"planning":[30,58,158],"the":[31,43,56,67,71,75,80,83,88,104,133,142,179,183,198,204,207],"trajectory":[32,57,81,157,180],"robotic":[36],"arm,":[37],"guaranteeing":[38],"safety":[39,93],"ergonomics":[41,86],"for":[42,55,82,87],"operator":[44],"without":[45],"neglecting":[46],"production":[47],"requirements.":[48,94],"particular,":[50],"multi-objective":[52,170],"optimization":[53],"approach":[54,97],"in":[59,132],"HRC":[63,135],"defined,":[65],"with":[66,137,146],"aim":[68,123],"finding":[70],"best":[72,184],"trade-off":[73],"between":[74,186],"total":[76],"traversal":[77],"time":[78,187],"robot":[84],"human":[89],"worker,":[90],"while":[91],"respecting":[92],"The":[95,122,190],"proposed":[96],"consists":[98],"three":[100],"main":[101],"steps.":[102],"First,":[103],"Rapid":[105],"Upper":[106],"Limb":[107],"Assessment":[108],"(RULA)":[109],"index":[111],"evaluated":[113],"manikin":[116],"designed":[117],"dedicated":[120],"software.":[121],"to":[125,177],"ensure":[126],"high":[128],"quality":[129],"work":[131],"considered":[134],"scenario":[136],"consequent":[139],"decrease":[140],"musculoskeletal":[143],"disorders":[144],"associated":[145],"highly":[147],"repetitive":[148],"dangerous":[150],"activities.":[151],"Second,":[152],"time-optimal":[154],"safety-constrained":[156],"problem":[159,172],"defined":[161],"as":[162],"second-order":[164],"cone":[165],"programming":[166],"problem.":[167],"Finally,":[168],"control":[171],"formulated":[174],"solved":[176],"compute":[178],"ensures":[182],"compromise":[185],"end":[188],"ergonomics.":[189],"method":[191],"tested":[193],"numerical":[195],"simulations":[196],"obtained":[199],"results":[200],"are":[201],"discussed,":[202],"proving":[203],"effectiveness":[205],"approach.":[208]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}