{"id":"https://openalex.org/W3207182429","doi":"https://doi.org/10.1109/thms.2021.3112953","title":"Motion Planning for Human\u2013Robot Collaboration Using an Objective-Switching Strategy","display_name":"Motion Planning for Human\u2013Robot Collaboration Using an Objective-Switching Strategy","publication_year":2021,"publication_date":"2021-10-11","ids":{"openalex":"https://openalex.org/W3207182429","doi":"https://doi.org/10.1109/thms.2021.3112953","mag":"3207182429"},"language":"en","primary_location":{"id":"doi:10.1109/thms.2021.3112953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3112953","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/A5058880531","display_name":"Akira Kanazawa","orcid":"https://orcid.org/0000-0003-4790-0172"},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Akira Kanazawa","raw_affiliation_strings":["Hitachi Ltd., Hitachinaka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4790-0172","affiliations":[{"raw_affiliation_string":"Hitachi Ltd., Hitachinaka, Japan","institution_ids":["https://openalex.org/I65143321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056244995","display_name":"Jun Kinugawa","orcid":null},"institutions":[{"id":"https://openalex.org/I58089638","display_name":"Fukushima University","ror":"https://ror.org/03zjb7z20","country_code":"JP","type":"education","lineage":["https://openalex.org/I58089638"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Kinugawa","raw_affiliation_strings":["Faculty of Symbiotic Systems Science, Fukushima University, Fukushima, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Symbiotic Systems Science, Fukushima University, Fukushima, Japan","institution_ids":["https://openalex.org/I58089638"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082419118","display_name":"Kazuhiro Kosuge","orcid":"https://orcid.org/0000-0002-2060-2936"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Kosuge","raw_affiliation_strings":["Center for Transformative AI and Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-2060-2936","affiliations":[{"raw_affiliation_string":"Center for Transformative AI and Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam, Hong Kong","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5058880531"],"corresponding_institution_ids":["https://openalex.org/I65143321"],"apc_list":null,"apc_paid":null,"fwci":0.6938,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70270785,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"51","issue":"6","first_page":"590","last_page":"600"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9984999895095825,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9955000281333923,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/motion-planning","display_name":"Motion planning","score":0.6270635724067688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5840033292770386},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.5746017694473267},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.57289057970047},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5708795189857483},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.56927889585495},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5450593829154968},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4201413691043854},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2559102177619934},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.249921977519989},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1514102816581726},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07319629192352295}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6270635724067688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5840033292770386},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.5746017694473267},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.57289057970047},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5708795189857483},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.56927889585495},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5450593829154968},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4201413691043854},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2559102177619934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.249921977519989},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1514102816581726},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07319629192352295},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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.2021.3112953","is_oa":false,"landing_page_url":"https://doi.org/10.1109/thms.2021.3112953","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W61873113","https://openalex.org/W1581800915","https://openalex.org/W1953185517","https://openalex.org/W1966126529","https://openalex.org/W1982100856","https://openalex.org/W1992461594","https://openalex.org/W1996955458","https://openalex.org/W1997715798","https://openalex.org/W1999502602","https://openalex.org/W2019965290","https://openalex.org/W2099893201","https://openalex.org/W2293883387","https://openalex.org/W2318055712","https://openalex.org/W2410196716","https://openalex.org/W2411775031","https://openalex.org/W2415165331","https://openalex.org/W2593216298","https://openalex.org/W2743263284","https://openalex.org/W2778540354","https://openalex.org/W2789905221","https://openalex.org/W2791385109","https://openalex.org/W2793432429","https://openalex.org/W2798500587","https://openalex.org/W2883170262","https://openalex.org/W2892124085","https://openalex.org/W2908047041","https://openalex.org/W2909528630","https://openalex.org/W2948218505","https://openalex.org/W2953931148","https://openalex.org/W2962848549","https://openalex.org/W2967211549","https://openalex.org/W2968823680","https://openalex.org/W2969168069","https://openalex.org/W4240940430"],"related_works":["https://openalex.org/W2029404707","https://openalex.org/W4285325679","https://openalex.org/W1928239295","https://openalex.org/W4282982070","https://openalex.org/W2487963770","https://openalex.org/W4300274844","https://openalex.org/W1764572413","https://openalex.org/W155385625","https://openalex.org/W1985351605","https://openalex.org/W3159265221"],"abstract_inverted_index":{"Motion":[0],"planning":[1,128,156],"of":[2,14,35,45,89,112,118,152,163],"collaborative":[3,135],"robots":[4],"is":[5,106],"often":[6],"required":[7],"to":[8,99,138],"simultaneously":[9],"satisfy":[10],"the":[11,41,46,48,53,60,64,69,81,86,90,100,103,113,119,125,130,141,150,153,158],"contradictory":[12],"objectives":[13,105],"reliably":[15],"avoiding":[16,52],"human":[17,76],"workers":[18],"and":[19,63,160],"safely":[20],"approaching":[21,68],"them.":[22],"In":[23],"this":[24],"article,":[25],"we":[26],"propose":[27],"a":[28,56,72,109,134],"new":[29],"strategy":[30,79,132],"that":[31],"adaptively":[32],"selects":[33],"one":[34],"two":[36,104],"objective":[37,49,65],"functions":[38],"based":[39,115],"on":[40,93,116],"current":[42],"operational":[43],"region":[44],"robot;":[47],"function":[50,66],"for":[51,67,75],"worker":[54,70,82,142],"with":[55,71,129,140,144],"distance":[57],"larger":[58],"than":[59],"safe":[61],"distance,":[62],"speed":[73,91],"limitation":[74],"safety.":[77],"This":[78],"improves":[80],"safety":[83,159],"while":[84],"limiting":[85],"negative":[87],"impact":[88],"limit":[92],"time":[94],"efficiency.":[95],"The":[96],"chattering":[97],"related":[98],"switching":[101,114],"between":[102],"solved":[107],"using":[108],"continuous":[110],"approximation":[111],"uncertainties":[117],"predicted":[120],"worker's":[121],"motion.":[122],"We":[123,147],"implement":[124],"proposed":[126,154],"motion":[127,155],"objective-switching":[131],"into":[133],"assembly":[136],"system":[137],"deal":[139],"moving":[143],"high":[145],"irregularities.":[146],"experimentally":[148],"evaluate":[149],"effectiveness":[151],"from":[157],"efficiency":[161],"points":[162],"view.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}