{"id":"https://openalex.org/W3003276484","doi":"https://doi.org/10.1109/iros40897.2019.8968557","title":"Reactive Interaction Through Body Motion and the Phase-State-Machine","display_name":"Reactive Interaction Through Body Motion and the Phase-State-Machine","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003276484","doi":"https://doi.org/10.1109/iros40897.2019.8968557","mag":"3003276484"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5065816069","display_name":"Raphael Deimel","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Raphael Deimel","raw_affiliation_strings":["Technische Universitt Berlin,Control Systems Laboratory,Germany","Control Systems Laboratory, Technische Universitt Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universitt Berlin,Control Systems Laboratory,Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Control Systems Laboratory, Technische Universitt Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5065816069"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":0.8747,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.80894446,"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":"6383","last_page":"6390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9987000226974487,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9986000061035156,"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/computer-science","display_name":"Computer science","score":0.7082078456878662},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6488006114959717},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.533058762550354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5284849405288696},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5209335684776306},{"id":"https://openalex.org/keywords/information-flow","display_name":"Information flow","score":0.506133496761322},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47218289971351624},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.4478314518928528},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3597434163093567},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.32515695691108704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28903982043266296},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.24186956882476807},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.16759377717971802},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11531063914299011},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10075482726097107}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7082078456878662},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6488006114959717},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.533058762550354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5284849405288696},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5209335684776306},{"id":"https://openalex.org/C2779136372","wikidata":"https://www.wikidata.org/wiki/Q10283002","display_name":"Information flow","level":2,"score":0.506133496761322},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47218289971351624},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.4478314518928528},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3597434163093567},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.32515695691108704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28903982043266296},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.24186956882476807},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.16759377717971802},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11531063914299011},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10075482726097107},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968557","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1497716120","https://openalex.org/W1999657641","https://openalex.org/W2011343364","https://openalex.org/W2049891146","https://openalex.org/W2079636899","https://openalex.org/W2219608386","https://openalex.org/W2304108689","https://openalex.org/W2490399547","https://openalex.org/W2588978360","https://openalex.org/W2883171104","https://openalex.org/W4205882492","https://openalex.org/W6946123899"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2124621291","https://openalex.org/W4323870231","https://openalex.org/W2967743314"],"abstract_inverted_index":{"Between":[0],"humans,":[1],"body":[2,56,151],"motion":[3,57,64],"is":[4,29],"an":[5,145],"intuitive":[6],"and":[7,46,51,87,93,123,129],"ubiquitous":[8],"means":[9],"to":[10,44,126],"coordinate":[11],"interactions,":[12],"but":[13,84],"so":[14],"far":[15],"collaborative":[16],"robots":[17],"have":[18,88],"not":[19,82],"embraced":[20],"this":[21,28],"mode":[22],"of":[23],"communication.":[24],"One":[25],"reason":[26],"for":[27],"that":[30,55,79],"conventional":[31,75],"behavior":[32],"generation":[33],"systems":[34],"use":[35],"finite":[36],"state":[37,76,136],"machines":[38],"which":[39],"make":[40],"it":[41],"exceptionally":[42],"difficult":[43],"ingest":[45],"produce":[47],"the":[48,109,135,141],"inherently":[49],"continuous":[50,130],"concurrent":[52],"information":[53,128],"flow":[54],"provides.":[58],"We":[59,139],"propose":[60],"a":[61,68,74],"new,":[62],"reactive":[63],"generator":[65],"based":[66],"on":[67],"dynamical":[69],"system":[70],"instead.":[71],"It":[72],"mimics":[73],"machine":[77],"except":[78],"transitions":[80,94],"are":[81],"instantaneous":[83,122],"time-extended,":[85],"reversible,":[86],"phases.":[89],"Moreover,":[90],"consecutive":[91],"states":[92],"may":[95],"overlap":[96],"during":[97],"execution.":[98],"Most":[99],"notably,":[100],"more":[101],"than":[102],"one":[103],"transition":[104],"can":[105],"be":[106],"active":[107],"at":[108],"same":[110],"time":[111],"if":[112],"they":[113],"share":[114],"predecessor":[115],"state.":[116],"Together,":[117],"these":[118],"unique":[119],"features":[120],"enable":[121],"gradual":[124],"responses":[125],"novel":[127],"decision":[131],"processes":[132],"without":[133],"changing":[134],"graph":[137],"itself.":[138],"demonstrate":[140],"system's":[142],"capabilities":[143],"in":[144],"object":[146],"handover":[147],"task":[148],"coordinated":[149],"by":[150],"motion.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}