{"id":"https://openalex.org/W2791793671","doi":"https://doi.org/10.1109/robio.2017.8324392","title":"Real-time safe motion generation through dynamical system modulation with multiple depth sensors","display_name":"Real-time safe motion generation through dynamical system modulation with multiple depth sensors","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2791793671","doi":"https://doi.org/10.1109/robio.2017.8324392","mag":"2791793671"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2017.8324392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5079817657","display_name":"Yajun Liao","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yajun Liao","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047105106","display_name":"Haifei Zhu","orcid":"https://orcid.org/0000-0002-2463-4564"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040144876","display_name":"Hongmin Wu","orcid":"https://orcid.org/0000-0001-8517-5296"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongmin Wu","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100633438","display_name":"Guoying Zhang","orcid":"https://orcid.org/0000-0002-3577-3316"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoying Zhang","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), Guangdong University of Technology, Guanazhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":null,"first_page":"44","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/workspace","display_name":"Workspace","score":0.7779467105865479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7125100493431091},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6434279680252075},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.49277809262275696},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49211472272872925},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4495297372341156},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4465925395488739},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44219374656677246},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.4320800304412842},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3897302448749542},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38760635256767273},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08218309283256531},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08072701096534729}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7779467105865479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7125100493431091},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6434279680252075},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.49277809262275696},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49211472272872925},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4495297372341156},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4465925395488739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44219374656677246},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.4320800304412842},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3897302448749542},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38760635256767273},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08218309283256531},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08072701096534729},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2017.8324392","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2017.8324392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1568957197","https://openalex.org/W1991462644","https://openalex.org/W1993358215","https://openalex.org/W1994691148","https://openalex.org/W2055869910","https://openalex.org/W2067041946","https://openalex.org/W2082095704","https://openalex.org/W2103120971","https://openalex.org/W2116113712","https://openalex.org/W2152536965","https://openalex.org/W2294066410","https://openalex.org/W2322988215","https://openalex.org/W2395310371","https://openalex.org/W2570708527","https://openalex.org/W2599199824","https://openalex.org/W2605744360"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2051058708","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W1999333556"],"abstract_inverted_index":{"Robots":[0],"will":[1],"be":[2,114],"a":[3,41,49,54,79,91,167,172],"part":[4],"of":[5,29,48,60,90,96,127,140,177,188],"our":[6,163,189],"society":[7],"in":[8,20,33,138,162],"the":[9,58,69,73,83,87,94,110,128,154,175,186],"future.":[10],"They":[11],"are":[12,76,150,182],"expected":[13],"to":[14,44,93,101,118,133,152,184],"interact":[15],"and":[16,23,64,72,98],"collaborate":[17],"with":[18,53,143,166,171],"humans":[19],"daily":[21],"life":[22],"production,":[24],"which":[25],"requires":[26],"robots":[27],"capable":[28],"adapting":[30],"dynamical":[31,61],"scenarios":[32],"real":[34],"time.":[35],"In":[36,131],"this":[37],"paper,":[38],"we":[39],"propose":[40],"real-time":[42],"approach":[43],"generate":[45],"safe":[46],"motion":[47],"robot":[50,92,169],"when":[51,123],"interacting":[52,170],"human.":[55],"Based":[56],"on":[57],"concepts":[59],"system":[62,71],"(DS)":[63],"artificial":[65],"potential":[66,135],"field":[67],"(APF),":[68],"robotic":[70],"sensed":[74],"obstacles":[75],"modeled":[77],"as":[78,122],"DS":[80],"by":[81],"computing":[82],"minimum":[84],"distance":[85],"from":[86,158],"control":[88],"point":[89],"surfaces":[95],"obstacles,":[97],"then":[99],"modulated":[100],"avoid":[102],"collisions.":[103],"The":[104],"modulation":[105],"is":[106],"parameterized":[107],"so":[108],"that":[109],"safety":[111,136],"margin":[112],"could":[113],"dynamically":[115],"modified":[116],"according":[117],"specific":[119],"situations,":[120],"such":[121],"encountering":[124],"big":[125],"uncertainty":[126],"obstacle":[129],"location.":[130],"order":[132],"address":[134],"risk":[137],"case":[139],"occlusion":[141],"occurs":[142],"only":[144],"one":[145],"sensor,":[146],"two":[147,178],"depth":[148,180],"sensors":[149,181],"configured":[151],"monitor":[153],"entire":[155],"shared":[156],"workspace":[157],"different":[159],"view":[160],"angle":[161],"approach.":[164],"Experiments":[165],"UR5":[168],"human":[173],"under":[174],"surveillance":[176],"Xtion":[179],"conducted":[183],"showcase":[185],"effectiveness":[187],"proposed":[190],"method.":[191]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}