{"id":"https://openalex.org/W4226269437","doi":"https://doi.org/10.1109/tase.2022.3161993","title":"A Learning Based Hierarchical Control Framework for Human\u2013Robot Collaboration","display_name":"A Learning Based Hierarchical Control Framework for Human\u2013Robot Collaboration","publication_year":2022,"publication_date":"2022-03-31","ids":{"openalex":"https://openalex.org/W4226269437","doi":"https://doi.org/10.1109/tase.2022.3161993"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2022.3161993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3161993","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5001463491","display_name":"Zhehao Jin","orcid":"https://orcid.org/0000-0002-0871-9779"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhehao Jin","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062282176","display_name":"Andong Liu","orcid":"https://orcid.org/0000-0003-2445-8457"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Andong Liu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019060617","display_name":"Wen\u2010An Zhang","orcid":"https://orcid.org/0000-0002-4355-2783"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen-An Zhang","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100702456","display_name":"Li Yu","orcid":"https://orcid.org/0000-0003-3889-3863"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Yu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chun-Yi Su","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001463491"],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":7.1647,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.97464752,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"20","issue":"1","first_page":"506","last_page":"517"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9926999807357788,"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"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9926999807357788,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9793999791145325,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.9761999845504761,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5993454456329346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5534534454345703},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5375520586967468},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5270469784736633},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4378420412540436},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43549495935440063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4333345592021942},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4331284761428833},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36877548694610596},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3482629954814911},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33303046226501465}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5993454456329346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5534534454345703},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5375520586967468},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5270469784736633},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4378420412540436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43549495935440063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4333345592021942},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4331284761428833},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36877548694610596},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3482629954814911},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33303046226501465},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2022.3161993","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2022.3161993","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.5,"id":"https://metadata.un.org/sdg/17"}],"awards":[{"id":"https://openalex.org/G4626531281","display_name":null,"funder_award_id":"61973275","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7317206599","display_name":null,"funder_award_id":"LD21F030002","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1489427801","https://openalex.org/W1992461594","https://openalex.org/W1997715798","https://openalex.org/W2021756757","https://openalex.org/W2022365837","https://openalex.org/W2024538772","https://openalex.org/W2031020718","https://openalex.org/W2086493383","https://openalex.org/W2101786389","https://openalex.org/W2126909264","https://openalex.org/W2145409477","https://openalex.org/W2147653242","https://openalex.org/W2155007355","https://openalex.org/W2166916103","https://openalex.org/W2186356995","https://openalex.org/W2198830216","https://openalex.org/W2212573275","https://openalex.org/W2295029210","https://openalex.org/W2483158495","https://openalex.org/W2735248836","https://openalex.org/W2744687549","https://openalex.org/W2773749769","https://openalex.org/W2791359174","https://openalex.org/W2795577874","https://openalex.org/W2801866677","https://openalex.org/W2889657078","https://openalex.org/W2909093850","https://openalex.org/W2910687636","https://openalex.org/W2964068416","https://openalex.org/W2980410359","https://openalex.org/W2983271161","https://openalex.org/W3003629310","https://openalex.org/W3126840281","https://openalex.org/W3165757908","https://openalex.org/W3200270133","https://openalex.org/W3204490324","https://openalex.org/W3204625264","https://openalex.org/W4205658840","https://openalex.org/W4211049957","https://openalex.org/W4211147391","https://openalex.org/W4283694318","https://openalex.org/W6678367057","https://openalex.org/W6680657880","https://openalex.org/W6681631837","https://openalex.org/W6682849425","https://openalex.org/W6684205842","https://openalex.org/W6684921986","https://openalex.org/W6686710309","https://openalex.org/W6765478815","https://openalex.org/W6785883622"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"using":[3,81,149],"the":[4,36,49,72,82,113,132,139,143,150,161,174,203,206],"ball":[5,184,295],"and":[6,64,92,101,107,127,177,193,199,217,265,274,287,296],"beam":[7,51,145,188,297],"system":[8],"as":[9,232,242],"an":[10],"illustration,":[11],"a":[12,21,29,39,60,65,75,116,124,128,187,191,194,223,256,263,282,294],"control":[13,138,293],"scheme":[14],"is":[15,25,45,57,78,120,135,157,222,279],"developed":[16],"on":[17,173,182,186],"human-robot":[18,31,227],"collaboration,":[19],"i.e.,":[20],"two-level":[22],"hierarchical":[23,258],"framework":[24,259,278],"proposed":[26],"to":[27,47,88,137,141,159,212,291],"establish":[28],"robust":[30,66,117,208,264],"collaboration":[32,67,118,162,209,228],"(HRC)":[33,229],"policy.":[34,210],"On":[35],"high":[37],"level,":[38],"deep":[40],"reinforcement":[41],"learning":[42],"(DRL)":[43],"algorithm":[44],"presented":[46],"plan":[48],"desired":[50,144],"rotational":[52,146],"velocity.":[53],"The":[54,154,164,277],"low":[55],"level":[56],"constructed":[58],"by":[59,80,122,148,190,281],"human-intention":[61],"perception":[62],"module":[63],"policy":[68,119,126,134,156,268],"design":[69],"module.":[70],"For":[71,112],"first":[73],"module,":[74,115],"probabilistic":[76],"model":[77],"fitted":[79],"Gaussian":[83,96],"process":[84],"regression":[85],"(GPR)":[86],"approach":[87],"predict":[89],"human-hand":[90,105,152],"velocities,":[91],"prediction":[93,109,175,251,272],"results":[94,201],"follow":[95],"distributions":[97],"where":[98,131,285],"mean":[99],"values":[100],"variances":[102],"represent":[103],"predicted":[104,151],"velocities":[106],"corresponding":[108],"confidences,":[110],"respectively.":[111],"second":[114],"established":[121],"fusing":[123],"proactive":[125,133],"conservative":[129,155],"policy,":[130],"used":[136],"robot":[140,195,219,288],"achieve":[142],"velocity":[147],"velocities.":[153],"designed":[158,207],"ensure":[160],"safety.":[163],"weighted":[165],"parameters":[166],"for":[167,226],"fusion":[168],"are":[169,180,289],"adaptively":[170],"tuned":[171],"based":[172],"precision":[176],"confidence.":[178,252],"Experiments":[179],"conducted":[181],"controlling":[183],"position":[185],"jointly":[189,292],"human":[192,214,240,248,270,286],"with":[196],"vision":[197],"data,":[198],"experimental":[200],"show":[202],"effectiveness":[204],"of":[205],"Note":[211],"Practitioners\u2014Predicting":[213],"future":[215],"behaviors":[216,220,241],"moderating":[218],"accordingly":[221],"long-standing":[224],"problem":[225],"tasks,":[230],"such":[231],"assembling,":[233],"transporting,":[234],"etc.":[235],"Existing":[236],"approaches":[237],"generally":[238],"regard":[239],"noises":[243],"or":[244],"only":[245],"build":[246],"simple":[247],"models":[249],"without":[250],"This":[253],"paper":[254],"proposes":[255],"learning-based":[257],"that":[260],"will":[261],"derive":[262],"safe":[266],"HRC":[267],"considering":[269],"behaviors,":[271],"confidence,":[273],"task-related":[275],"optimality.":[276],"validated":[280],"representative":[283],"experiment":[284],"asked":[290],"system.":[298]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}