{"id":"https://openalex.org/W4416748855","doi":"https://doi.org/10.1109/iros60139.2025.11247517","title":"RMG: Real-Time Expressive Motion Generation with Self-collision Avoidance for 6-DOF Companion Robotic Arms","display_name":"RMG: Real-Time Expressive Motion Generation with Self-collision Avoidance for 6-DOF Companion Robotic Arms","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748855","doi":"https://doi.org/10.1109/iros60139.2025.11247517"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100631198","display_name":"Jiansheng Li","orcid":"https://orcid.org/0000-0002-3541-3927"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jiansheng Li","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000633335","display_name":"Haotian Song","orcid":"https://orcid.org/0000-0001-8049-2516"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haotian Song","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040338788","display_name":"Haoang Li","orcid":"https://orcid.org/0000-0002-1576-9408"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haoang Li","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109404467","display_name":"Jinni Zhou","orcid":"https://orcid.org/0000-0002-9093-5648"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jinni Zhou","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039200446","display_name":"Qiang Nie","orcid":"https://orcid.org/0000-0002-2778-4058"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qiang Nie","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038655852","display_name":"Yi Cai","orcid":"https://orcid.org/0000-0002-7587-8956"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yi Cai","raw_affiliation_strings":["Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology (Guangzhou),Guangzhou,China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100631198"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48233917,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"17122","last_page":"17129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.6769999861717224,"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/T12290","display_name":"Human Motion and Animation","score":0.6769999861717224,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.1843000054359436,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.07670000195503235,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.7827000021934509},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6078000068664551},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5396000146865845},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5163999795913696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49079999327659607},{"id":"https://openalex.org/keywords/interactivity","display_name":"Interactivity","score":0.46480000019073486},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4632999897003174},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.3873000144958496},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.3840999901294708}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7827000021934509},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7160000205039978},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6078000068664551},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5767999887466431},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5396000146865845},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5163999795913696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5023000240325928},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49079999327659607},{"id":"https://openalex.org/C144430266","wikidata":"https://www.wikidata.org/wiki/Q839721","display_name":"Interactivity","level":2,"score":0.46480000019073486},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4632999897003174},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3982999920845032},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3873000144958496},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.3840999901294708},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37040001153945923},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.36809998750686646},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3499000072479248},{"id":"https://openalex.org/C147446459","wikidata":"https://www.wikidata.org/wiki/Q11639","display_name":"Dance","level":2,"score":0.3382999897003174},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.30820000171661377},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.30630001425743103},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.30059999227523804},{"id":"https://openalex.org/C25016198","wikidata":"https://www.wikidata.org/wiki/Q781833","display_name":"Temporal logic","level":2,"score":0.2955999970436096},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.28940001130104065},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247517","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1540333058","https://openalex.org/W2099893201","https://openalex.org/W2144994235","https://openalex.org/W2152195021","https://openalex.org/W2293883387","https://openalex.org/W2891175295","https://openalex.org/W2964057747","https://openalex.org/W2988576575","https://openalex.org/W3173114633","https://openalex.org/W4283726097","https://openalex.org/W4312800400","https://openalex.org/W4320154339","https://openalex.org/W4383172031","https://openalex.org/W4390906571","https://openalex.org/W4391305822","https://openalex.org/W4402753895","https://openalex.org/W4405786027"],"related_works":[],"abstract_inverted_index":{"The":[0],"six-degree-of-freedom":[1],"(6-DOF)":[2],"robotic":[3,49],"arm":[4],"has":[5,15],"gained":[6],"widespread":[7],"application":[8],"in":[9,28,90,131],"human-coexisting":[10],"environments.":[11],"While":[12],"previous":[13],"research":[14],"predominantly":[16],"focused":[17],"on":[18],"functional":[19],"motion":[20,27,40,77,87,109],"generation,":[21],"the":[22,112,119],"critical":[23],"aspect":[24],"of":[25,121],"expressive":[26,48,76,114,127],"human-robot":[29],"interaction":[30],"remains":[31],"largely":[32],"unexplored.":[33],"This":[34],"paper":[35],"presents":[36],"a":[37,70],"novel":[38],"real-time":[39],"generation":[41,88],"planner":[42],"that":[43,105],"enhances":[44],"interactivity":[45],"by":[46],"creating":[47],"motions":[50,130],"between":[51],"arbitrary":[52],"start":[53],"and":[54,93,128],"end":[55],"states":[56],"within":[57],"predefined":[58],"time":[59],"constraints.":[60,139],"Our":[61],"approach":[62],"involves":[63],"three":[64],"key":[65],"contributions:":[66],"first,":[67],"we":[68,85,100],"develop":[69],"mapping":[71],"algorithm":[72,104],"to":[73],"construct":[74],"an":[75,102],"dataset":[78],"derived":[79],"from":[80],"human":[81],"dance":[82],"movements;":[83],"second,":[84],"train":[86],"models":[89],"both":[91],"Cartesian":[92],"joint":[94],"spaces":[95],"using":[96],"this":[97],"dataset;":[98],"third,":[99],"introduce":[101],"optimization":[103],"guarantees":[106],"smooth,":[107],"collision-free":[108],"while":[110,135],"maintaining":[111],"intended":[113],"style.":[115],"Experimental":[116],"results":[117],"demonstrate":[118],"effectiveness":[120],"our":[122],"method,":[123],"which":[124],"can":[125],"generate":[126],"generalized":[129],"under":[132],"0.5":[133],"seconds":[134],"satisfying":[136],"all":[137],"specified":[138]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}