{"id":"https://openalex.org/W2164796184","doi":"https://doi.org/10.1109/icra.2011.5980549","title":"Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot","display_name":"Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2164796184","doi":"https://doi.org/10.1109/icra.2011.5980549","mag":"2164796184"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1438569","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052374776","display_name":"Sven Parusel","orcid":null},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Sven Parusel","raw_affiliation_strings":["German AeroSpace Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["German AeroSpace Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080814983","display_name":"Alin Albu\u2010Sch\u00e4ffer","orcid":"https://orcid.org/0000-0001-5343-9074"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alin Albu-Schaffer","raw_affiliation_strings":["German AeroSpace Center, Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"German AeroSpace Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5052374776"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":2.318,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.90918284,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4298","last_page":"4305"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7543789148330688},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6751455664634705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6469835638999939},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5376599431037903},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5006537437438965},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.48983070254325867},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46111369132995605},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.44659724831581116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43266117572784424},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.42867806553840637},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.4268600046634674},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42009419202804565},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4153563976287842},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4146692156791687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4013559818267822},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34467369318008423},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2656435966491699},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06324145197868347}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7543789148330688},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6751455664634705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6469835638999939},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5376599431037903},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5006537437438965},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.48983070254325867},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46111369132995605},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.44659724831581116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43266117572784424},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.42867806553840637},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.4268600046634674},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42009419202804565},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4153563976287842},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4146692156791687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4013559818267822},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34467369318008423},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2656435966491699},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06324145197868347},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5980549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:74105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980549>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"NonPeerReviewed"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1438569","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438569","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1438569","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1438569","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2274873","https://openalex.org/W44183409","https://openalex.org/W1527317423","https://openalex.org/W1576127242","https://openalex.org/W1979918347","https://openalex.org/W2000982104","https://openalex.org/W2007850612","https://openalex.org/W2060338010","https://openalex.org/W2082515475","https://openalex.org/W2097446805","https://openalex.org/W2100470760","https://openalex.org/W2112836513","https://openalex.org/W2128606325","https://openalex.org/W2133525455","https://openalex.org/W2139761653","https://openalex.org/W2149085596","https://openalex.org/W2150024155","https://openalex.org/W2154777391","https://openalex.org/W2169360335","https://openalex.org/W4254060840","https://openalex.org/W6600089173","https://openalex.org/W6601799245","https://openalex.org/W6681238423"],"related_works":["https://openalex.org/W2134294860","https://openalex.org/W3044674998","https://openalex.org/W4380365667","https://openalex.org/W1518038311","https://openalex.org/W2209062660","https://openalex.org/W2036556776","https://openalex.org/W2744885973","https://openalex.org/W2139139490","https://openalex.org/W2724299411","https://openalex.org/W2310563729"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5],"novel":[6],"control":[7,66],"architecture":[8],"for":[9,29,58],"realizing":[10],"human-friendly":[11],"behaviors":[12],"and":[13,33,74],"intuitive":[14],"state":[15,56],"based":[16],"programming.":[17],"The":[18,63],"design":[19],"implements":[20],"strategies":[21],"that":[22,78],"take":[23],"advantage":[24],"of":[25,46,69],"sophisticated":[26],"soft-robotics":[27],"features":[28],"providing":[30],"reactive,":[31],"robust,":[32],"safe":[34],"robot":[35,48,61,65],"actions":[36],"in":[37],"dynamic":[38],"environments.":[39],"Quick":[40],"access":[41],"to":[42,52,81],"the":[43,47,50],"various":[44],"functionality":[45],"enables":[49],"user":[51],"develop":[53],"flexible":[54],"hybrid":[55],"automata":[57],"programming":[59],"complex":[60],"behaviors.":[62],"real-time":[64],"takes":[67],"care":[68],"all":[70],"safety":[71],"critical":[72],"aspects":[73],"provides":[75],"reactive":[76],"reflexes":[77],"directly":[79],"respond":[80],"external":[82],"stimuli.":[83]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}