{"id":"https://openalex.org/W2049437173","doi":"https://doi.org/10.1109/icra.2012.6224943","title":"A constraint-based programming approach to physical human-robot interaction","display_name":"A constraint-based programming approach to physical human-robot interaction","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2049437173","doi":"https://doi.org/10.1109/icra.2012.6224943","mag":"2049437173"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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":"https://lirias.kuleuven.be/handle/123456789/348463","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038002992","display_name":"Gianni Borghesan","orcid":"https://orcid.org/0000-0002-6023-1498"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":true,"raw_author_name":"Gianni Borghesan","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","Dept. of Mechanical Engineering, K.U. Leuven, Heverlee, Belgium#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, K.U. Leuven, Heverlee, Belgium#TAB#","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033528860","display_name":"Bert Willaert","orcid":null},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bert Willaert","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","Dept. of Mechanical Engineering, K.U. Leuven, Heverlee, Belgium#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, K.U. Leuven, Heverlee, Belgium#TAB#","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006282526","display_name":"Joris De Schutter","orcid":"https://orcid.org/0000-0001-9619-5815"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Joris De Schutter","raw_affiliation_strings":["Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","Dept. of Mechanical Engineering, K.U. Leuven, Heverlee, Belgium#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KU Leuven, Heverlee, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, K.U. Leuven, Heverlee, Belgium#TAB#","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038002992"],"corresponding_institution_ids":["https://openalex.org/I99464096"],"apc_list":null,"apc_paid":null,"fwci":2.8453,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91065793,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"3890","last_page":"3896"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9843999743461609,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9836999773979187,"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":0.765274167060852},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.7628189325332642},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6950322389602661},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6773668527603149},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6056500673294067},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5455973148345947},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.5363024473190308},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5267666578292847},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.5212579369544983},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49375757575035095},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45200201869010925},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3764173984527588},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36344343423843384},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32908865809440613},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.31033647060394287},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.11020109057426453},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.06577947735786438}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.765274167060852},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.7628189325332642},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6950322389602661},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6773668527603149},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6056500673294067},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5455973148345947},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.5363024473190308},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267666578292847},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5212579369544983},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49375757575035095},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45200201869010925},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3764173984527588},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36344343423843384},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32908865809440613},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31033647060394287},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.11020109057426453},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.06577947735786438},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6224943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/348463","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/348463","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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":"IEEE International Conference on Robotics and Automation (ICRA), MN, St Paul, 2012","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:lirias2repo.kuleuven.be:123456789/348463","is_oa":true,"landing_page_url":"https://lirias.kuleuven.be/handle/123456789/348463","pdf_url":null,"source":{"id":"https://openalex.org/S4306401954","display_name":"Lirias (KU Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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":"IEEE International Conference on Robotics and Automation (ICRA), MN, St Paul, 2012","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2016505519","https://openalex.org/W2100349524","https://openalex.org/W2110498236","https://openalex.org/W2112474089","https://openalex.org/W2114199428","https://openalex.org/W2119313793","https://openalex.org/W2123504862","https://openalex.org/W2134490558","https://openalex.org/W2141450827","https://openalex.org/W2159154059","https://openalex.org/W2159800337","https://openalex.org/W2167783228","https://openalex.org/W2169360335","https://openalex.org/W2170193904"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2793255344","https://openalex.org/W2296377172","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2946737911"],"abstract_inverted_index":{"This":[0,90],"work":[1,91],"aims":[2],"to":[3,46,60,72,100,124],"extend":[4],"the":[5,21,35,96,104,111,120],"constraint-based":[6],"formalism":[7],"iTaSC":[8,58],"for":[9,23],"scenarios":[10],"where":[11],"physical":[12],"human-robot":[13],"interaction":[14],"plays":[15],"a":[16,77,107,118,126,137],"central":[17],"role,":[18],"which":[19],"is":[20,122],"case":[22],"e.g.":[24],"surgical":[25],"robotics,":[26],"rehabilitation":[27],"robotics":[28],"and":[29,49,55,71],"household":[30],"robotics.":[31],"To":[32],"really":[33],"exploit":[34],"potential":[36],"of":[37,83,95,103,106,113],"robots":[38,87],"in":[39,52,64,68,76],"these":[40],"scenarios,":[41],"it":[42],"should":[43],"be":[44],"possible":[45],"enforce":[47],"force":[48,114],"geometrical":[50],"constraints":[51,63],"an":[53,93],"easy":[54],"flexible":[56],"way.":[57,79],"allows":[59,99],"express":[61],"such":[62],"different":[65],"frames":[66],"expressed":[67],"arbitrary":[69],"spaces":[70],"obtain":[73],"control":[74],"setpoints":[75],"systematic":[78],"In":[80],"previous":[81],"implementations":[82],"iTaSC,":[84],"industrial":[85],"velocity-controlled":[86],"were":[88],"considered.":[89],"presents":[92],"extension":[94],"iTaSC-framework":[97,121],"that":[98],"take":[101],"advantage":[102],"back-drivability":[105],"robot":[108],"thus":[109],"avoiding":[110],"use":[112],"sensors.":[115],"Then,":[116],"as":[117],"casestudy,":[119],"used":[123],"formulate":[125],"(positionposition)":[127],"teleoperation":[128],"scheme.":[129],"The":[130],"theoretical":[131],"findings":[132],"are":[133],"experimentally":[134],"validated":[135],"using":[136],"PR2":[138],"robot.":[139]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-01T17:29:45.350535","created_date":"2025-10-10T00:00:00"}
