{"id":"https://openalex.org/W4313005119","doi":"https://doi.org/10.1109/tcds.2022.3215093","title":"Efficient and Collision-Free Human\u2013Robot Collaboration Based on Intention and Trajectory Prediction","display_name":"Efficient and Collision-Free Human\u2013Robot Collaboration Based on Intention and Trajectory Prediction","publication_year":2022,"publication_date":"2022-11-03","ids":{"openalex":"https://openalex.org/W4313005119","doi":"https://doi.org/10.1109/tcds.2022.3215093"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3215093","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3215093","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/09920012.pdf","source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/09920012.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jianzhi Lyu","orcid":"https://orcid.org/0000-0001-9702-1120"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jianzhi Lyu","raw_affiliation_strings":["Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9702-1120","affiliations":[{"raw_affiliation_string":"Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075179620","display_name":"Philipp Ruppel","orcid":"https://orcid.org/0000-0002-1336-8483"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philipp Ruppel","raw_affiliation_strings":["Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1336-8483","affiliations":[{"raw_affiliation_string":"Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086095248","display_name":"Norman Hendrich","orcid":"https://orcid.org/0000-0003-0499-886X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Norman Hendrich","raw_affiliation_strings":["Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0003-0499-886X","affiliations":[{"raw_affiliation_string":"Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415898","display_name":"Shuang Li","orcid":"https://orcid.org/0000-0002-0690-1331"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shuang Li","raw_affiliation_strings":["Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0690-1331","affiliations":[{"raw_affiliation_string":"Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018457277","display_name":"Michael G\u00f6rner","orcid":"https://orcid.org/0000-0002-9188-1047"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael G\u00f6rner","raw_affiliation_strings":["Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9188-1047","affiliations":[{"raw_affiliation_string":"Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-7856-5760","affiliations":[{"raw_affiliation_string":"Department of Informatics, Group TAMS, Universität Hamburg, Hamburg, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2807,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.92345168,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"4","first_page":"1853","last_page":"1863"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9897000193595886,"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":0.9897000193595886,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9413999915122986,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9373000264167786,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8778395056724548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7776501178741455},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.729627788066864},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6877594590187073},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6369613409042358},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5814971327781677},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5062126517295837},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5049956440925598},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.49189329147338867},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4703997075557709},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.44685181975364685},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4171367883682251},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.41504842042922974},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38699352741241455},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32712292671203613},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09528326988220215}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8778395056724548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7776501178741455},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.729627788066864},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6877594590187073},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6369613409042358},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5814971327781677},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5062126517295837},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5049956440925598},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.49189329147338867},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4703997075557709},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.44685181975364685},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4171367883682251},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.41504842042922974},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38699352741241455},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32712292671203613},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09528326988220215},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2022.3215093","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3215093","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/09920012.pdf","source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tcds.2022.3215093","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3215093","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/09920012.pdf","source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.44999998807907104,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4313005119.pdf","grobid_xml":"https://content.openalex.org/works/W4313005119.grobid-xml"},"referenced_works_count":39,"referenced_works":["https://openalex.org/W1581800915","https://openalex.org/W1584874746","https://openalex.org/W1630678085","https://openalex.org/W1993999483","https://openalex.org/W2064675550","https://openalex.org/W2091338725","https://openalex.org/W2145691535","https://openalex.org/W2168175751","https://openalex.org/W2412669390","https://openalex.org/W2418222507","https://openalex.org/W2599199824","https://openalex.org/W2609771872","https://openalex.org/W2730676472","https://openalex.org/W2743263284","https://openalex.org/W2770213923","https://openalex.org/W2775416623","https://openalex.org/W2778540354","https://openalex.org/W2894846593","https://openalex.org/W2948426124","https://openalex.org/W2963816519","https://openalex.org/W2972710271","https://openalex.org/W3000976187","https://openalex.org/W3003620459","https://openalex.org/W3003772610","https://openalex.org/W3003773509","https://openalex.org/W3006115429","https://openalex.org/W3012355143","https://openalex.org/W3045856491","https://openalex.org/W3046037537","https://openalex.org/W3086366941","https://openalex.org/W3092523457","https://openalex.org/W3132029337","https://openalex.org/W3176882544","https://openalex.org/W3207249034","https://openalex.org/W4288391499","https://openalex.org/W6636473733","https://openalex.org/W6636808768","https://openalex.org/W6756486208","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"Human-Robot":[0],"collaboration":[1],"(HRC)":[2],"is":[3,13,102,119],"an":[4,27,72],"important":[5],"topic":[6],"for":[7,54],"manufacturing":[8],"and":[9,20,33,44,77,134,150,160],"household":[10],"robotics.":[11],"It":[12],"very":[14],"challenging":[15],"to":[16,85,104],"ensure":[17,105],"both":[18],"efficiency":[19],"safety":[21,107],"in":[22,121],"HRC.":[23],"This":[24],"paper":[25],"presents":[26],"HRC":[28],"pipeline":[29,143],"that":[30,140],"generates":[31],"efficient":[32],"collision-free":[34],"robot":[35],"trajectories":[36],"based":[37,58],"on":[38,59],"predictions":[39],"of":[40,68,108],"the":[41,66,75,78,87,106,109,114,146,152,157],"human":[42,110,126,147,158],"arm":[43],"hand":[45,80],"(AH)":[46],"motions.":[47,128],"We":[48],"train":[49],"a":[50,122],"recurrent":[51],"neural":[52],"network":[53],"AH":[55,89,148],"trajectory":[56,62,82,99,149],"prediction":[57],"observed":[60,76],"initial":[61],"segments.":[63],"To":[64],"increase":[65],"accuracy":[67],"target":[69,91,154],"estimation":[70],"at":[71],"early":[73],"stage,":[74],"predicted":[79],"palm":[81],"are":[83],"combined":[84],"predict":[86,145],"current":[88],"motion":[90,153],"using":[92],"Gaussian":[93],"Mixture":[94],"Models":[95],"(GMMs).":[96],"An":[97],"optimization-based":[98],"generation":[100],"algorithm":[101],"proposed":[103,117,142],"while":[111],"collaborating":[112],"with":[113,125],"robot.":[115],"The":[116,129,137],"system":[118],"validated":[120],"shared-workspace":[123],"scenario":[124],"pick-and-place":[127],"task":[130],"can":[131,144],"be":[132],"safely":[133],"efficiently":[135],"completed.":[136],"results":[138],"demonstrate":[139],"our":[141],"estimate":[151],"intended":[155],"by":[156],"accurately":[159],"early.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}