{"id":"https://openalex.org/W1974311059","doi":"https://doi.org/10.1109/urai.2014.7057407","title":"Safe motion generation and online reshaping using dynamical systems","display_name":"Safe motion generation and online reshaping using dynamical systems","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W1974311059","doi":"https://doi.org/10.1109/urai.2014.7057407","mag":"1974311059"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2014.7057407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2014.7057407","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5031898170","display_name":"Matteo Saveriano","orcid":"https://orcid.org/0000-0002-9784-3973"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matteo Saveriano","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","[Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","[Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Chair of Automatic Control Engineering, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.4659,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.48766505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"45","last_page":"45"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.655341625213623},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6211608052253723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5073127150535583},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.48756664991378784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4869052469730377},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4548812508583069},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43355539441108704},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.362923800945282},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.34200066328048706},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3226189613342285},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3222695291042328},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2306734323501587},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.12069526314735413}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.655341625213623},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6211608052253723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5073127150535583},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.48756664991378784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4869052469730377},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4548812508583069},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43355539441108704},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.362923800945282},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.34200066328048706},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3226189613342285},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3222695291042328},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2306734323501587},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.12069526314735413},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2014.7057407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2014.7057407","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2055869910","https://openalex.org/W2067041946"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Summary":[0],"form":[1],"only":[2],"given.":[3],"In":[4,44],"the":[5,34,95,123,159,163,172,178,194,197,202,217,225,229,250,256,263,267,276,281,285,288,292,307,314,337,354,365,370,378,383,399,403,417,424,435,439,451,457,473,495,499,501,504,510,516,518,524,528],"future,":[6],"robotic":[7],"platforms":[8],"will":[9,191,204],"be":[10,206],"integrated":[11],"in":[12,32,64,109,122,171,199,216,266,294,306,341,463,476,498],"social":[13],"environment":[14],"to":[15,52,113,131,158,184,233,261,287,297,311,335,358,363,397,402,409,422,450],"actively":[16],"cooperate":[17],"with":[18,104,275,329,369,513],"humans":[19],"during":[20],"their":[21,41],"daily-life.":[22],"A":[23],"feasible":[24,58],"human-robot":[25,66,160,478],"co-working":[26],"requires":[27],"close":[28],"and":[29,38,57,92,99,253,290,323,362,382,406,412,437],"safe":[30,54],"interaction,":[31],"which":[33],"partners":[35],"can":[36,214],"understand":[37],"quickly":[39],"adapt":[40],"mutual":[42],"behaviors.":[43],"this":[45,189,415],"work,":[46],"we":[47,279],"present":[48],"a":[49,65,79,134,153,235,342,391,428,477],"real-time":[50],"approach":[51,293,475],"generate":[53],"(velocity":[55],"scaling)":[56],"(collision":[59],"avoidance,":[60],"goal":[61,339,440,487,521],"adaptation)":[62],"motions":[63],"interaction":[67,479],"scenario.":[68,480],"The":[69,126,317,350,373,444,466,481],"basic":[70],"assumption":[71],"is":[72,76,152,249,255,304,356,448,506],"that":[73,300,455],"robot's":[74,173,277,338],"motion":[75,367,446],"generated":[77],"using":[78,166],"first-order,":[80],"asymptotically":[81],"stable":[82],"Dynamical":[83],"System":[84],"(DS):":[85],"x":[86,91,93,144,241],"=":[87,145,242],"f(x),":[88],"(1)":[89,142],"where":[90,148,247],"represent":[94],"robot":[96,218,286,366,404,482,505],"end-effector":[97,264,315],"position":[98,441,522],"velocity":[100,136,252,265,321,436,502],"respectively.":[101],"Driving":[102],"robots":[103],"DS":[105,127,238],"has":[106],"several":[107],"advantages":[108],"terms":[110],"of":[111,196,228,353,430,472,503,527],"robustness":[112],"external":[114],"perturbations,":[115],"such":[116],"as":[117,239],"unexpected":[118],"contacts":[119],"or":[120],"changes":[121],"goal/initial":[124],"position.":[125],"structure":[128],"allows":[129],"us":[130],"easily":[132],"implement":[133],"human-based":[135],"scaling":[137,190,322,433],"algorithm,":[138],"by":[139],"modifying":[140],"Eq.":[141,295,464],"as:":[143],"\u03b1hf(x),":[146],"(2)":[147],"0min\u2264":[149],"\u03b1h\u2264":[150],"1":[151],"scalar":[154],"function":[155],"inversely":[156],"proportional":[157],"distance.":[161],"When":[162,494],"human,":[164],"tracked":[165],"an":[167,330,470],"RGB-D":[168,392],"camera,":[169],"enters":[170,497],"workspace":[174],"\u03b1h=":[175],"\u03b1min,":[176],"while":[177,489],"human":[179,360,411],"goes":[180,183],"away,":[181],"\u03b1hlinearly":[182],"1.":[185],"Being":[186],"\u03b1hstrictly":[187],"positive,":[188],"not":[192,312],"affect":[193,313],"equilibrium":[195,525],"DS,":[198,230],"other":[200],"words,":[201],"task":[203,303],"always":[205],"correctly":[207],"executed.":[208],"During":[209],"tasks":[210],"execution,":[211],"unforeseen":[212],"obstacle":[213,251,268,289,324],"appear":[215],"workspace.":[219],"To":[220,272],"avoid":[221,273],"possible":[222,492],"collisions,":[223],"saving":[224],"convergence":[226],"properties":[227],"authors":[231],"propose":[232],"modulate":[234],"generic":[236],"first-order":[237],"[1]:":[240],"M(x)(f(x)-o)":[243],"+":[244],"o,":[245],"(3)":[246,296],"o":[248],"M(x)":[254],"so-called":[257],"modulation":[258],"matrix,":[259],"used":[260,334,357,408],"reduce":[262],"normal":[269],"direction":[270],"[2].":[271],"collisions":[274],"links,":[278],"calculate":[280],"closest":[282],"point":[283,526],"on":[284],"use":[291],"drive":[298],"away":[299],"point.":[301],"This":[302],"projected":[305],"manipulator":[308],"Jacobian":[309],"null-space":[310],"motion.":[316],"described":[318],"approaches":[319],"for":[320],"avoidance":[325,461],"are":[326,394],"integrated,":[327],"together":[328],"online":[331],"reshaping":[332],"method":[333],"modify":[336],"position,":[340],"two":[343],"levels":[344],"hierarchical":[345],"architecture":[346,355],"(see":[347],"Fig.":[348],"1).":[349],"higher":[351],"level":[352],"recognize":[359],"activities":[361],"select/reshape":[364],"according":[368],"current":[371],"activity.":[372],"Human":[374],"Activities":[375],"Interpreter":[376],"determines":[377],"user":[379,496,511],"status":[380,385],"(far/interaction)":[381],"goals":[384],"(free/occluded).":[386],"Rough":[387],"depth":[388],"data":[389],"from":[390,427],"sensor":[393],"first":[395],"filtered":[396],"remove":[398],"points":[400],"belonging":[401],"surface":[405],"then":[407],"track":[410],"obstacles.":[413],"Using":[414],"information,":[416],"Robot":[418],"Behaviour":[419],"Selection/Reshaping":[420],"module":[421],"select":[423],"right":[425],"behavior":[426],"database":[429],"Motion":[431],"Primitives,":[432],"down":[434],"changing":[438],"when":[442],"needed.":[443],"selected":[445],"primitive":[447],"passed":[449],"Collision":[452],"Avoidance":[453],"level,":[454],"implements":[456],"real-time,":[458],"reactive":[459],"collision":[460],"algorithm":[462],"(3).":[465],"related":[467],"video":[468],"shows":[469],"application":[471],"proposed":[474],"moves":[483],"counterclockwise":[484],"towards":[485],"four":[486],"positions,":[488],"it":[490],"avoids":[491],"collisions.":[493],"workspace,":[500],"scaled":[507],"down.":[508],"If":[509],"hides":[512],"his":[514],"hands":[515],"goal,":[517],"next":[519],"free":[520],"becomes":[523],"DS.":[529]},"counts_by_year":[{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}