{"id":"https://openalex.org/W4401413881","doi":"https://doi.org/10.1109/icra57147.2024.10610909","title":"Proactive Robot Control for Collaborative Manipulation Using Human Intent","display_name":"Proactive Robot Control for Collaborative Manipulation Using Human Intent","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413881","doi":"https://doi.org/10.1109/icra57147.2024.10610909"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","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/A5009707172","display_name":"Zhanibek Rysbek","orcid":"https://orcid.org/0009-0003-2169-5139"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zhanibek Rysbek","raw_affiliation_strings":["the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607"],"affiliations":[{"raw_affiliation_string":"the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100436431","display_name":"Siyu Li","orcid":"https://orcid.org/0000-0002-0976-9938"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siyu Li","raw_affiliation_strings":["the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607"],"affiliations":[{"raw_affiliation_string":"the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046069451","display_name":"Afagh Mehri Shervedani","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Afagh Mehri Shervedani","raw_affiliation_strings":["the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607"],"affiliations":[{"raw_affiliation_string":"the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062331167","display_name":"Milo\u0161 \u017defran","orcid":"https://orcid.org/0000-0001-9558-3656"},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Milo\u0161 \u017defran","raw_affiliation_strings":["the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607"],"affiliations":[{"raw_affiliation_string":"the University of Illinois at Chicago,Robotics Laboratory,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607","institution_ids":["https://openalex.org/I39422238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5009707172"],"corresponding_institution_ids":["https://openalex.org/I39422238"],"apc_list":null,"apc_paid":null,"fwci":1.0484,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76716093,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3176","last_page":"3182"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6709665060043335},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.611985445022583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6066101789474487},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6044771075248718},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5772070288658142},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41556137800216675},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36540424823760986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23613929748535156}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6709665060043335},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.611985445022583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6066101789474487},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6044771075248718},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5772070288658142},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41556137800216675},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36540424823760986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23613929748535156}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1487858791","https://openalex.org/W1885639605","https://openalex.org/W1978023077","https://openalex.org/W1979103965","https://openalex.org/W1987616874","https://openalex.org/W2012058822","https://openalex.org/W2080228594","https://openalex.org/W2086493383","https://openalex.org/W2103831616","https://openalex.org/W2114414717","https://openalex.org/W2115906629","https://openalex.org/W2144910137","https://openalex.org/W2168121194","https://openalex.org/W2169513627","https://openalex.org/W2170498743","https://openalex.org/W2504989182","https://openalex.org/W2564917287","https://openalex.org/W2606201132","https://openalex.org/W2736480079","https://openalex.org/W2771354076","https://openalex.org/W2787894218","https://openalex.org/W2804610937","https://openalex.org/W2945117614","https://openalex.org/W3003608599","https://openalex.org/W3011722025","https://openalex.org/W3093628840","https://openalex.org/W3143066847","https://openalex.org/W3195152183","https://openalex.org/W4250935087","https://openalex.org/W4283699904","https://openalex.org/W4309698321","https://openalex.org/W4323659752","https://openalex.org/W4386043349","https://openalex.org/W4388624140","https://openalex.org/W6638315535"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W2171912896","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620"],"abstract_inverted_index":{"Collaborative":[0],"manipulation":[1],"task":[2],"often":[3],"requires":[4],"negotiation":[5],"using":[6],"explicit":[7],"or":[8,73],"implicit":[9],"communication.":[10],"An":[11],"important":[12],"example":[13],"is":[14,23,35,57,138,154],"determining":[15],"where":[16],"to":[17,42,54,61,66,75,98,105,122,130,164,210,230],"move":[18],"when":[19],"the":[20,31,38,44,59,71,76,109,112,128,142,147,151,161,169,172,181,204,232,235],"goal":[21,133],"destination":[22,46,97],"not":[24],"uniquely":[25],"specified,":[26],"and":[27,102,150,177,195,208,217,224],"who":[28],"should":[29],"lead":[30],"motion.":[32],"This":[33],"work":[34],"motivated":[36],"by":[37],"ability":[39,60],"of":[40,47,115,118,125,127,171,180,234],"humans":[41],"communicate":[43],"desired":[45,132],"motion":[48,96],"through":[49,197],"back-and-forth":[50],"force":[51],"exchanges.":[52],"Inherent":[53],"these":[55],"exchanges":[56],"also":[58],"dynamically":[62],"assign":[63],"a":[64,84,95,99,116,155,190],"role":[65],"each":[67],"participant,":[68],"either":[69],"taking":[70],"initiative":[72],"deferring":[74],"partner\u2019s":[77],"lead.":[78],"In":[79],"this":[80],"paper,":[81],"we":[82],"propose":[83],"hierarchical":[85],"robot":[86,129,162,192,205],"control":[87,136,173],"framework":[88],"that":[89,159,203],"emulates":[90],"human":[91,100,143,165,198,211],"behavior":[92],"in":[93,103,146],"communicating":[94],"collaborator":[101],"responding":[104],"their":[106],"actions.":[107,166],"At":[108],"top":[110],"level,":[111],"controller":[113,186],"consists":[114],"set":[117],"finite-state":[119],"machines":[120],"corresponding":[121],"different":[123],"levels":[124],"commitment":[126],"its":[131,214],"configuration.":[134],"The":[135,184,200],"architecture":[137],"loosely":[139],"based":[140],"on":[141,189],"strategy":[144],"observed":[145],"human-human":[148,228],"experiments,":[149],"key":[152],"component":[153],"real-time":[156],"intent":[157,182,215],"recognizer":[158],"helps":[160],"respond":[163],"We":[167,220],"describe":[168],"details":[170],"framework,":[174],"feature":[175],"engineering":[176],"training":[178],"process":[179],"recognition.":[183],"proposed":[185],"was":[187],"implemented":[188],"UR10e":[191],"(Universal":[193],"Robots)":[194],"evaluated":[196],"studies.":[199],"experiments":[201,229],"show":[202],"correctly":[206],"recognizes":[207],"responds":[209],"input,":[212],"communicates":[213],"clearly,":[216],"resolves":[218],"conflict.":[219],"report":[221],"success":[222],"rates":[223],"draw":[225],"comparisons":[226],"with":[227],"demonstrate":[231],"effectiveness":[233],"approach.":[236]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}