{"id":"https://openalex.org/W3210040340","doi":"https://doi.org/10.1109/iros51168.2021.9636130","title":"Contact Anticipation for Physical Human\u2013Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors","display_name":"Contact Anticipation for Physical Human\u2013Robot Interaction with Robotic Manipulators using Onboard Proximity Sensors","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3210040340","doi":"https://doi.org/10.1109/iros51168.2021.9636130","mag":"3210040340"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636130","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5032046263","display_name":"Caleb Escobedo","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caleb Escobedo","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022309461","display_name":"Matthew Strong","orcid":"https://orcid.org/0009-0004-3936-1492"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Strong","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028042462","display_name":"Mary Etta West","orcid":"https://orcid.org/0000-0003-2854-2138"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mary West","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059257860","display_name":"Ander Aramburu","orcid":"https://orcid.org/0009-0001-7503-5166"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ander Aramburu","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020277024","display_name":"Alessandro Roncone","orcid":"https://orcid.org/0000-0001-7385-1875"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alessandro Roncone","raw_affiliation_strings":["University of Colorado Boulder, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Colorado Boulder, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.8834,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99501169,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7255","last_page":"7262"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9970999956130981,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9907000064849854,"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/anticipation","display_name":"Anticipation (artificial intelligence)","score":0.7797659635543823},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6274283528327942},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6021993160247803},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5928871631622314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5637952089309692},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39330992102622986},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3441239595413208},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3357027471065521},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3298991918563843}],"concepts":[{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.7797659635543823},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6274283528327942},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6021993160247803},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5928871631622314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5637952089309692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39330992102622986},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3441239595413208},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3357027471065521},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3298991918563843}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636130","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.6100000143051147,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1985406432","https://openalex.org/W2002589631","https://openalex.org/W2015003349","https://openalex.org/W2026669106","https://openalex.org/W2052971528","https://openalex.org/W2061369443","https://openalex.org/W2080426295","https://openalex.org/W2084615382","https://openalex.org/W2116113712","https://openalex.org/W2154777391","https://openalex.org/W2167340365","https://openalex.org/W2221713116","https://openalex.org/W2318055712","https://openalex.org/W2562597196","https://openalex.org/W2618852836","https://openalex.org/W2762248135","https://openalex.org/W2783126745","https://openalex.org/W2789905221","https://openalex.org/W2901136733","https://openalex.org/W2965057984","https://openalex.org/W2968966582","https://openalex.org/W2995818800","https://openalex.org/W3003971233","https://openalex.org/W3090462889","https://openalex.org/W3100296292","https://openalex.org/W3103055392","https://openalex.org/W3129933761","https://openalex.org/W3133064118","https://openalex.org/W3209836047","https://openalex.org/W6665695711","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4213201576","https://openalex.org/W2150761772","https://openalex.org/W1579870145","https://openalex.org/W4285549518","https://openalex.org/W2765459612","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"In":[0],"this":[1,97],"paper,":[2],"we":[3,59],"present":[4],"a":[5,78,87,105,122,138],"framework":[6,125],"that":[7,153],"unites":[8],"obstacle":[9],"avoidance":[10,32],"and":[11,20,27,52,71,83,115,162],"deliberate":[12],"physical":[13,130],"interaction":[14],"for":[15],"robotic":[16],"manipulators.":[17],"As":[18],"humans":[19],"robots":[21],"begin":[22],"to":[23,49,111,160],"coexist":[24],"in":[25,41,119],"work":[26,46,98],"household":[28],"environments,":[29],"pure":[30],"collision":[31],"is":[33,38,99,156],"insufficient,":[34],"as":[35],"human\u2013robot":[36,131],"contact":[37,76,90,101,117],"inevitable":[39],"and,":[40],"some":[42],"situations,":[43],"desired.":[44],"Our":[45,124],"enables":[47],"manipulators":[48],"anticipate,":[50],"detect,":[51],"act":[53],"on":[54,86,137,164],"contact.":[55],"To":[56],"achieve":[57],"this,":[58],"allow":[60],"limited":[61],"deviation":[62],"from":[63],"the":[64,143],"robot\u2019s":[65],"original":[66],"trajectory":[67],"through":[68],"velocity":[69],"reduction":[70],"motion":[72],"restrictions.":[73],"Then,":[74],"if":[75],"occurs,":[77],"robot":[79,147],"can":[80],"detect":[81],"it":[82],"maneuver":[84],"based":[85],"novel":[88],"dynamic":[89,100],"thresholding":[91],"algorithm.":[92],"The":[93],"core":[94],"contribution":[95,155],"of":[96,121,140],"thresholding,":[102],"which":[103],"allows":[104],"manipulator":[106],"with":[107],"onboard":[108],"proximity":[109],"sensors":[110],"track":[112],"nearby":[113],"objects":[114],"reduce":[116],"forces":[118],"anticipation":[120],"collision.":[123],"elicits":[126],"natural":[127],"behavior":[128],"during":[129],"interaction.":[132],"We":[133],"evaluate":[134],"our":[135,150,154],"system":[136],"variety":[139],"scenarios":[141],"using":[142],"Franka":[144],"Emika":[145],"Panda":[146],"arm;":[148],"collectively,":[149],"results":[151],"demonstrate":[152],"not":[157],"only":[158],"able":[159],"avoid":[161],"react":[163],"contact,":[165],"but":[166],"also":[167],"anticipate":[168],"it.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}