{"id":"https://openalex.org/W4403677101","doi":"https://doi.org/10.1109/case59546.2024.10711545","title":"A MPC-based approach for motion planning on redundant manipulators in human robot collaboration","display_name":"A MPC-based approach for motion planning on redundant manipulators in human robot collaboration","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403677101","doi":"https://doi.org/10.1109/case59546.2024.10711545"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th 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/A5100317628","display_name":"Chen Cai","orcid":"https://orcid.org/0000-0001-6729-227X"},"institutions":[{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]},{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Chen Cai","raw_affiliation_strings":["University of Kaiserslautern-Landau,Department of Electrical and Computer Engineering,Kaiserslautern,Germany"],"affiliations":[{"raw_affiliation_string":"University of Kaiserslautern-Landau,Department of Electrical and Computer Engineering,Kaiserslautern,Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I153267046"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065808857","display_name":"Michael J. Schroeder","orcid":null},"institutions":[{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]},{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Schroeder","raw_affiliation_strings":["University of Kaiserslautern-Landau,Department of Electrical and Computer Engineering,Kaiserslautern,Germany"],"affiliations":[{"raw_affiliation_string":"University of Kaiserslautern-Landau,Department of Electrical and Computer Engineering,Kaiserslautern,Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I153267046"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010945720","display_name":"Steven Liu","orcid":"https://orcid.org/0000-0002-3407-2745"},"institutions":[{"id":"https://openalex.org/I153267046","display_name":"University of Kaiserslautern","ror":"https://ror.org/04zrf7b53","country_code":"DE","type":"education","lineage":["https://openalex.org/I153267046"]},{"id":"https://openalex.org/I2802076133","display_name":"University of Koblenz and Landau","ror":"https://ror.org/01j9f6752","country_code":"DE","type":"education","lineage":["https://openalex.org/I2802076133"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steven Liu","raw_affiliation_strings":["University of Kaiserslautern-Landau,Department of Electrical and Computer Engineering,Kaiserslautern,Germany"],"affiliations":[{"raw_affiliation_string":"University of Kaiserslautern-Landau,Department of Electrical and Computer Engineering,Kaiserslautern,Germany","institution_ids":["https://openalex.org/I2802076133","https://openalex.org/I153267046"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100317628"],"corresponding_institution_ids":["https://openalex.org/I153267046","https://openalex.org/I2802076133"],"apc_list":null,"apc_paid":null,"fwci":0.3495,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60704842,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"3387","last_page":"3392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9750999808311462,"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":0.9750999808311462,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9670000076293945,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9567999839782715,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6131005883216858},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6021541357040405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5900363922119141},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5648090839385986},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5643782019615173},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.43078893423080444},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42617374658584595},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4226277470588684},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3981909155845642},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3902713656425476},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3351578712463379},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21850714087486267},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21113678812980652},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20826587080955505}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6131005883216858},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6021541357040405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5900363922119141},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5648090839385986},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5643782019615173},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.43078893423080444},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42617374658584595},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4226277470588684},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3981909155845642},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3902713656425476},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3351578712463379},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21850714087486267},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21113678812980652},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20826587080955505}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case59546.2024.10711545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711545","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1994691148","https://openalex.org/W2033709107","https://openalex.org/W2149192758","https://openalex.org/W2318055712","https://openalex.org/W2980985499","https://openalex.org/W3212908658","https://openalex.org/W3215492280","https://openalex.org/W4285102454","https://openalex.org/W4388918397"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W2155287816","https://openalex.org/W2132826624","https://openalex.org/W2766493616","https://openalex.org/W3000959466","https://openalex.org/W4391855104"],"abstract_inverted_index":{"The":[0,130],"harmonious":[1],"cooperation":[2],"and":[3,7,60,80,105,122],"safety":[4],"between":[5],"humans":[6],"robots":[8],"are":[9],"paramount":[10],"for":[11,58,99,149],"Human-Robot":[12],"Collaboration":[13],"(HRC).":[14],"This":[15],"paper":[16],"presents":[17],"a":[18,113],"model":[19],"predictive":[20],"control":[21],"(MPC)-based":[22],"motion":[23,69,134],"planner":[24,49,70],"that":[25],"bridges":[26],"high-level":[27],"Cartesian":[28],"space":[29,35],"task":[30,101,141],"planning":[31],"with":[32,112],"real-time":[33,52,117,120],"joint":[34],"control,":[36],"enabling":[37],"online":[38],"trajectory":[39],"adjustments":[40],"in":[41,51,116,143],"response":[42],"to":[43,139],"dynamic":[44],"human":[45],"actions.":[46],"Our":[47,108],"MPC-based":[48],"excels":[50],"implementation":[53],"through":[54],"novel":[55],"adaptive":[56],"designs":[57],"weights":[59],"constraints,":[61],"evidenced":[62],"by":[63],"an":[64],"average":[65],"computational":[66,106],"time":[67,79],"per":[68],"cycle":[71],"of":[72,75,88],"55.4ms\u2014nearly":[73],"half":[74],"the":[76,84,136],"system":[77],"sample":[78],"significantly":[81],"less":[82],"than":[83],"discretization":[85],"step":[86],"size":[87],"T<inf":[89],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[90],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">s</inf>":[91],"=":[92],"500ms.":[93],"We":[94],"have":[95],"meticulously":[96],"tailored":[97],"constraints":[98],"varying":[100],"phases,":[102],"enhancing":[103],"adaptability":[104,121],"efficiency.":[107],"proposed":[109],"approach,":[110],"validated":[111],"redundant":[114],"cobot":[115],"experiments,":[118],"demonstrates":[119],"pose":[123],"tracking":[124],"precision":[125],"during":[126],"critical":[127],"pick-and-place":[128],"maneuvers.":[129],"generated":[131],"proactive":[132],"evasive":[133],"showcases":[135],"planner\u2019s":[137],"capability":[138],"adapt":[140],"executions":[142],"HRC":[144],"scenarios,":[145],"reflecting":[146],"its":[147],"potential":[148],"complex,":[150],"safety-critical":[151],"applications.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
