{"id":"https://openalex.org/W2406929209","doi":"https://doi.org/10.1109/thms.2016.2558539","title":"Behavior Hierarchy-Based Affordance Map for Recognition of Human Intention and Its Application to Human\u2013Robot Interaction","display_name":"Behavior Hierarchy-Based Affordance Map for Recognition of Human Intention and Its Application to Human\u2013Robot Interaction","publication_year":2016,"publication_date":"2016-05-25","ids":{"openalex":"https://openalex.org/W2406929209","doi":"https://doi.org/10.1109/thms.2016.2558539","mag":"2406929209"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2016.2558539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2016.2558539","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","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/A5062826616","display_name":"Ji-Hyeong Han","orcid":"https://orcid.org/0000-0001-8391-6898"},"institutions":[{"id":"https://openalex.org/I142401562","display_name":"Electronics and Telecommunications Research Institute","ror":"https://ror.org/03ysstz10","country_code":"KR","type":"facility","lineage":["https://openalex.org/I142401562","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ji-Hyeong Han","raw_affiliation_strings":["Electronics and Telecommunications Research Institute, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"Electronics and Telecommunications Research Institute, Daejeon, Korea","institution_ids":["https://openalex.org/I142401562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100678617","display_name":"Seungjae Lee","orcid":"https://orcid.org/0000-0001-9081-2835"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seung-Jae Lee","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100718523","display_name":"Jong-Hwan Kim","orcid":"https://orcid.org/0000-0002-4172-4174"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Hwan Kim","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5062826616"],"corresponding_institution_ids":["https://openalex.org/I142401562"],"apc_list":null,"apc_paid":null,"fwci":1.6068,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.84305113,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"46","issue":"5","first_page":"708","last_page":"722"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9955999851226807,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9365008473396301},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.7406826019287109},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.684939444065094},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6633169651031494},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6312381029129028},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.628263533115387},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5748730897903442},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5683821439743042},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5314682126045227},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4859279692173004},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4287794232368469},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2952958047389984},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.23093771934509277}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9365008473396301},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.7406826019287109},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.684939444065094},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6633169651031494},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6312381029129028},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.628263533115387},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5748730897903442},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5683821439743042},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5314682126045227},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4859279692173004},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4287794232368469},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2952958047389984},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.23093771934509277},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/thms.2016.2558539","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2016.2558539","pdf_url":null,"source":{"id":"https://openalex.org/S2476799526","display_name":"IEEE Transactions on Human-Machine Systems","issn_l":"2168-2291","issn":["2168-2291","2168-2305"],"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 Human-Machine Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G6241349431","display_name":null,"funder_award_id":"NRF-2014R1A2A1A10051551","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G8913783676","display_name":null,"funder_award_id":"10045252","funder_id":"https://openalex.org/F4320337495","funder_display_name":"Technology Development"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322030","display_name":"Ministry of Science, ICT and Future Planning","ror":"https://ror.org/032e49973"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320337495","display_name":"Technology Development","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1504850170","https://openalex.org/W1918827201","https://openalex.org/W1965643899","https://openalex.org/W1977839180","https://openalex.org/W1999338537","https://openalex.org/W2015591636","https://openalex.org/W2033553286","https://openalex.org/W2055917246","https://openalex.org/W2058705881","https://openalex.org/W2062930512","https://openalex.org/W2069287462","https://openalex.org/W2077900494","https://openalex.org/W2078464739","https://openalex.org/W2097668489","https://openalex.org/W2099069812","https://openalex.org/W2101448784","https://openalex.org/W2108695381","https://openalex.org/W2113423686","https://openalex.org/W2133828723","https://openalex.org/W2145288592","https://openalex.org/W2146571406","https://openalex.org/W2154848553","https://openalex.org/W2155217025","https://openalex.org/W2159893335","https://openalex.org/W2162104245","https://openalex.org/W2167002698","https://openalex.org/W2170531123","https://openalex.org/W2180509456","https://openalex.org/W2282357837","https://openalex.org/W3043771091","https://openalex.org/W6674687248","https://openalex.org/W6683242927","https://openalex.org/W6780661845"],"related_works":["https://openalex.org/W4293926484","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W1589423663","https://openalex.org/W2153355016","https://openalex.org/W2953790200","https://openalex.org/W2051792111","https://openalex.org/W2079483114","https://openalex.org/W2079685522","https://openalex.org/W4312511060"],"abstract_inverted_index":{"To":[0,44],"prepare":[1],"for":[2],"the":[3,22,40,46,54,84,109,125,135,150],"anticipated":[4],"age":[5],"of":[6,26,39,149],"human-robot":[7,158],"symbiosis,":[8],"robots":[9],"should":[10,52],"be":[11],"able":[12],"to":[13,82,104],"interact":[14],"and":[15,24,75,90,96,111,129,143,169],"cooperate":[16],"with":[17,58,120,160],"humans":[18],"effectively":[19],"by":[20,113,118],"understanding":[21],"meaning":[23],"intention":[25,35,137],"human":[27,34,41,48,136,145],"behavior.":[28,146],"In":[29],"this":[30,65],"paper,":[31,66],"we":[32,67],"define":[33],"as":[36,115,117],"\u201cdesired":[37],"behavior":[38,60,70,77,87],"using":[42,163],"objects.\u201d":[43],"infer":[45,134],"defined":[47],"intention,":[49],"a":[50,59,69,76,106,121,131,164,170],"robot":[51,107,132,168],"learn":[53],"object":[55,85,91],"affordance":[56,72,79],"along":[57],"hierarchy":[61,88,92],"structure.":[62],"Thus,":[63],"in":[64,141],"propose":[68],"hierarchy-based":[71,78],"network":[73],"(BHAN)":[74],"map":[80],"(BHAM)":[81],"represent":[83],"affordance,":[86],"structure,":[89,93],"simultaneously.":[94],"Autonomous":[95],"interactive":[97],"BHAN/BHAM":[98],"learning":[99],"algorithms":[100],"are":[101],"also":[102],"proposed":[103,151],"make":[105],"develop":[108],"BHAN":[110],"BHAM":[112],"itself,":[114],"well":[116],"interacting":[119],"human.":[122],"Based":[123],"on":[124,157],"newly":[126],"developed":[127],"BHANs":[128],"BHAM,":[130],"could":[133],"from":[138,144],"information":[139],"observed":[140],"context":[142],"The":[147],"effectiveness":[148],"method":[152],"was":[153],"demonstrated":[154],"through":[155],"experiments":[156],"interaction":[159],"building":[161],"blocks":[162],"simulated":[165],"differential":[166],"wheel":[167],"real":[171],"human-sized":[172],"humanoid":[173],"robot.":[174]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}