{"id":"https://openalex.org/W3011189923","doi":"https://doi.org/10.1109/iccad46983.2019.9037961","title":"Experimental Real-Time Setup for Vision Driven Hand-Over with a Collaborative Robot","display_name":"Experimental Real-Time Setup for Vision Driven Hand-Over with a Collaborative Robot","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W3011189923","doi":"https://doi.org/10.1109/iccad46983.2019.9037961","mag":"3011189923"},"language":"en","primary_location":{"id":"doi:10.1109/iccad46983.2019.9037961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccad46983.2019.9037961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Control, Automation and Diagnosis (ICCAD)","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/A5033737205","display_name":"Leonardo Sabatino Scimmi","orcid":"https://orcid.org/0000-0002-0537-2984"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Leonardo Sabatino Scimmi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082971314","display_name":"Matteo Melchiorre","orcid":"https://orcid.org/0000-0002-4409-186X"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Melchiorre","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032314419","display_name":"Stefano Mauro","orcid":"https://orcid.org/0000-0001-8395-8297"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Mauro","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017749731","display_name":"Stefano Pastorelli","orcid":"https://orcid.org/0000-0001-7808-8776"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Pastorelli","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering (DIMEAS), Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5033737205"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":null,"apc_paid":null,"fwci":1.1642,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80021771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7492857575416565},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7358415126800537},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6327064037322998},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.62027508020401},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.619424045085907},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5651665925979614},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.5275874733924866},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5263144969940186},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49686720967292786},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44097161293029785},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39822131395339966},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3842052221298218},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3589317500591278},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25853654742240906}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7492857575416565},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7358415126800537},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6327064037322998},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.62027508020401},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.619424045085907},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5651665925979614},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.5275874733924866},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5263144969940186},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49686720967292786},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44097161293029785},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39822131395339966},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3842052221298218},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3589317500591278},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25853654742240906},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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:10.1109/iccad46983.2019.9037961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccad46983.2019.9037961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Control, Automation and Diagnosis (ICCAD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1846144685","https://openalex.org/W2020244510","https://openalex.org/W2064648031","https://openalex.org/W2094537981","https://openalex.org/W2274524839","https://openalex.org/W2609240785","https://openalex.org/W2736988773","https://openalex.org/W2764092873","https://openalex.org/W2885824135","https://openalex.org/W2887867318","https://openalex.org/W2903982116","https://openalex.org/W4242128664"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598"],"abstract_inverted_index":{"Collaborative":[0],"robotics":[1],"aims":[2],"to":[3,27,31,45,53,81,86,128,134,143],"make":[4],"possible":[5,83],"a":[6,40,47,55,59,70],"close":[7],"collaboration":[8],"between":[9],"human":[10,35,60,105],"operators":[11],"and":[12,164,173],"robots":[13],"in":[14,51,95],"the":[15,22,32,65,87,90,96,101,104,125,130,136,145,148,158,162,165,169],"industry":[16],"scenario.":[17],"To":[18],"achieve":[19],"this":[20],"goal,":[21],"robot":[23,50,91,131],"must":[24],"be":[25],"able":[26],"adapt":[28],"its":[29],"behavior":[30],"movements":[33,63],"of":[34,64,75,89,98,100,147,161],"co-worker.":[36],"This":[37],"work":[38,163],"presents":[39],"control":[41],"strategy":[42,150],"that":[43,116],"permits":[44],"drive":[46],"UR3":[48],"collaborative":[49],"order":[52],"perform":[54],"hand-over":[56,149],"task":[57],"with":[58],"operator.":[61],"The":[62,153],"operator":[66],"are":[67,111,171],"acquired":[68],"by":[69,113],"3D":[71],"vision":[72],"system":[73],"made":[74],"multiple":[76],"Microsoft":[77],"Kinect":[78],"sensors,":[79],"so":[80],"prevent":[82],"occlusions":[84],"related":[85],"presence":[88],"or":[92],"dynamic":[93],"obstacles":[94],"field":[97],"view":[99],"sensors.":[102],"Thus,":[103],"skeletons":[106],"extracted":[107],"from":[108,168],"depth":[109],"sensors":[110],"handled":[112],"an":[114,118],"algorithm":[115,123],"generates":[117],"optimized":[119],"skeleton.":[120],"A":[121],"path-planning":[122],"uses":[124],"skeleton":[126],"information":[127],"calculates":[129],"joints":[132],"velocities":[133],"accomplish":[135],"task.":[137],"Experimental":[138],"tests":[139,170],"have":[140],"been":[141],"conducted":[142],"verify":[144],"effectiveness":[146],"here":[151],"proposed.":[152],"hardware":[154],"setup":[155],"prepared":[156],"for":[157],"experimental":[159],"phase":[160],"results":[166],"obtained":[167],"presented":[172],"discussed.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}