{"id":"https://openalex.org/W2084874198","doi":"https://doi.org/10.1109/ssrr.2012.6523904","title":"Asymmetric velocity moderation: A reactive strategy for human safety","display_name":"Asymmetric velocity moderation: A reactive strategy for human safety","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2084874198","doi":"https://doi.org/10.1109/ssrr.2012.6523904","mag":"2084874198"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2012.6523904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2012.6523904","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5037692282","display_name":"Gustavo Alfonso Garcia Ricardez","orcid":"https://orcid.org/0000-0001-6518-577X"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"G. A. Garcia Ricardez","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020600038","display_name":"Akihiko Yamaguchi","orcid":"https://orcid.org/0000-0001-9060-3478"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Yamaguchi","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Takamatsu","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Ogasawara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara, Japan#TAB#","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":1.6411,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.82319173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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":0.9979000091552734,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.991100013256073,"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/robot","display_name":"Robot","score":0.6531636118888855},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6045281887054443},{"id":"https://openalex.org/keywords/moderation","display_name":"Moderation","score":0.561763346195221},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5352367162704468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5223789811134338},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4858386218547821},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.451302170753479},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4417068660259247},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4291534423828125},{"id":"https://openalex.org/keywords/velocity-vector","display_name":"Velocity vector","score":0.4224192500114441},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3605862259864807},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32880717515945435},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3280217945575714},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30136385560035706},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08516347408294678},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07143130898475647},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.0690198540687561}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6531636118888855},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6045281887054443},{"id":"https://openalex.org/C93225998","wikidata":"https://www.wikidata.org/wiki/Q1941972","display_name":"Moderation","level":2,"score":0.561763346195221},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5352367162704468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5223789811134338},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4858386218547821},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.451302170753479},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4417068660259247},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4291534423828125},{"id":"https://openalex.org/C2988738274","wikidata":"https://www.wikidata.org/wiki/Q11465","display_name":"Velocity vector","level":2,"score":0.4224192500114441},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3605862259864807},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32880717515945435},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3280217945575714},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30136385560035706},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08516347408294678},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07143130898475647},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0690198540687561},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2012.6523904","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2012.6523904","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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":4,"referenced_works":["https://openalex.org/W2050835671","https://openalex.org/W2100470760","https://openalex.org/W2120693140","https://openalex.org/W3147253688"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220","https://openalex.org/W4293926484"],"abstract_inverted_index":{"As":[0],"Human-Robot":[1],"Interaction":[2],"becomes":[3],"closer,":[4],"it":[5],"is":[6,67,97,114,133],"necessary":[7],"to":[8,52,93,173],"seek":[9],"human":[10,20,23,36,56,76,106,128,169,193,202],"safety":[11,37,155,194,203],"so":[12],"that":[13,98,187],"the":[14,19,22,26,46,49,53,63,68,72,85,89,95,101,105,112,119,122,127,131,138,141,145,152,199,205,208],"robot":[15,166,209],"does":[16],"not":[17,82,190],"harm":[18],"when":[21,210],"ventures":[24],"into":[25],"robot's":[27],"workspace.":[28],"Therefore,":[29,79],"we":[30,80,116,149,185],"propose":[31],"a":[32,163,168,212],"reactive":[33],"strategy":[34],"for":[35],"called":[38],"Asymmetric":[39],"Velocity":[40],"Moderation.":[41],"Our":[42],"proposed":[43],"method":[44,61,189],"restricts":[45],"velocity":[47,102,123,147],"of":[48,121,207],"end-effector":[50,146],"according":[51],"distance":[54,86,113,132],"between":[55,75,140,154,201],"and":[57,77,144,156,167,176,204],"robot.":[58,78],"Moreover,":[59],"our":[60,188],"considers":[62],"displacement":[64,142],"vector":[65,69,143,148],"which":[66],"formed":[70],"by":[71,136],"closest":[73],"points":[74],"do":[81],"consider":[83,94],"only":[84,191],"but":[87,195],"also":[88,196],"direction.":[90],"The":[91],"reason":[92],"direction":[96],"even":[99,129],"though":[100],"directed":[103,124],"towards":[104],"should":[107],"be":[108],"firmly":[109],"restricted":[110],"if":[111,130],"short,":[115],"can":[117,150],"relax":[118],"restriction":[120],"away":[125],"from":[126],"short.":[134],"Thus,":[135],"introducing":[137],"angle":[139],"improve":[151],"trade-off":[153,200],"efficiency.":[157],"We":[158],"carried":[159],"out":[160],"experiments":[161],"with":[162,198],"human-size":[164],"humanoid":[165],"subject":[170],"standing":[171],"next":[172],"each":[174],"other,":[175],"made":[177],"them":[178],"perform":[179],"independent":[180],"tasks.":[181],"Through":[182],"these":[183],"experiments,":[184],"verified":[186],"provides":[192],"copes":[197],"efficiency":[206],"performing":[211],"task.":[213]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
