{"id":"https://openalex.org/W2209845948","doi":"https://doi.org/10.1109/iros.2015.7354044","title":"Active safety control for dynamic human-robot interaction","display_name":"Active safety control for dynamic human-robot interaction","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2209845948","doi":"https://doi.org/10.1109/iros.2015.7354044","mag":"2209845948"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1278956","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050987687","display_name":"Melanie Kimmel","orcid":"https://orcid.org/0000-0001-5196-3833"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Melanie Kimmel","raw_affiliation_strings":["Chair of Information-Oriented Control, Technische Universitat Munchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-Oriented Control, Technische Universitat Munchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Chair of Information-Oriented Control, Technische Universitat Munchen, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-Oriented Control, Technische Universitat Munchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":4.3453,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.95553539,"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":"4685","last_page":"4691"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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":0.996999979019165,"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":0.996399998664856,"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":0.9922999739646912,"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/robot","display_name":"Robot","score":0.6655024886131287},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6430388689041138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6156219244003296},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.588770866394043},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5554385185241699},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49574026465415955},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49192237854003906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48727452754974365},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.47850099205970764},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45687639713287354},{"id":"https://openalex.org/keywords/human-interaction","display_name":"Human interaction","score":0.4366171360015869},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.430123507976532},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3671286702156067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29554593563079834},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2660664916038513},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.21965888142585754},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1301441192626953}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6655024886131287},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6430388689041138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6156219244003296},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.588770866394043},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5554385185241699},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49574026465415955},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49192237854003906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48727452754974365},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.47850099205970764},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45687639713287354},{"id":"https://openalex.org/C2987082051","wikidata":"https://www.wikidata.org/wiki/Q223642","display_name":"Human interaction","level":2,"score":0.4366171360015869},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.430123507976532},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3671286702156067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29554593563079834},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2660664916038513},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.21965888142585754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1301441192626953},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2015.7354044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1278956","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1278956","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/1278956","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1278956","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1887006513","https://openalex.org/W1926044393","https://openalex.org/W1972013173","https://openalex.org/W1975885428","https://openalex.org/W1978956894","https://openalex.org/W1980569135","https://openalex.org/W2043178601","https://openalex.org/W2047339567","https://openalex.org/W2096085564","https://openalex.org/W2110144538","https://openalex.org/W2114368574","https://openalex.org/W2145744986","https://openalex.org/W2167971611","https://openalex.org/W2612345272","https://openalex.org/W4292872153","https://openalex.org/W6662289159","https://openalex.org/W6737751067"],"related_works":["https://openalex.org/W2593979465","https://openalex.org/W2549249014","https://openalex.org/W1497899746","https://openalex.org/W123531284","https://openalex.org/W2888290426","https://openalex.org/W3169021511","https://openalex.org/W4312771599","https://openalex.org/W4312401853","https://openalex.org/W2935080094","https://openalex.org/W3108579688"],"abstract_inverted_index":{"In":[0,60],"human-robot":[1,46],"interaction":[2],"(HRI)":[3],"and":[4,100,109,119,124],"especially":[5],"in":[6,29,126],"close":[7],"or":[8,56],"physical":[9],"interaction,":[10,47],"it":[11,62,113],"is":[12,20,33,63],"essential":[13],"to":[14,35,53,70,84],"ensure":[15],"the":[16,31,66,91,115],"human's":[17],"safety.":[18],"This":[19,74],"achieved":[21],"by":[22],"introducing":[23],"virtual":[24],"constraints":[25,105],"defining":[26,104],"a":[27,97,131],"region,":[28],"which":[30,48,81,95],"robot":[32],"allowed":[34],"move":[36],"safely.":[37],"These":[38],"safety":[39],"regions":[40],"may":[41,49],"change":[42],"over":[43],"time":[44],"during":[45],"be":[50],"either":[51],"due":[52],"human":[54],"motion":[55],"changed":[57],"environmental":[58],"conditions.":[59],"consequence":[61],"important":[64],"for":[65,103],"applied":[67],"control":[68,79,93],"scheme":[69],"handle":[71],"dynamic":[72,87],"boundaries.":[73],"work":[75],"proposes":[76],"an":[77,127],"invariance-based":[78],"approach,":[80,94],"enforces":[82],"adherence":[83],"boundaries":[85],"with":[86],"parameters.":[88],"We":[89],"extend":[90],"invariance":[92,120],"provides":[96],"computationally":[98],"efficient":[99],"systematic":[101],"method":[102],"on":[106,130],"system":[107],"states":[108],"outputs,":[110],"such":[111],"that":[112],"handles":[114],"constraint":[116],"dynamics.":[117],"Stability":[118],"properties":[121],"are":[122],"analyzed":[123],"validated":[125],"experimental":[128],"evaluation":[129],"7-DoF":[132],"anthropomorphic":[133],"manipulator.":[134]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}