{"id":"https://openalex.org/W4386953032","doi":"https://doi.org/10.1109/ccta54093.2023.10252579","title":"Proactive Human-Robot Co-Assembly: Leveraging Human Intention Prediction and Robust Safe Control","display_name":"Proactive Human-Robot Co-Assembly: Leveraging Human Intention Prediction and Robust Safe Control","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4386953032","doi":"https://doi.org/10.1109/ccta54093.2023.10252579"},"language":"en","primary_location":{"id":"doi:10.1109/ccta54093.2023.10252579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta54093.2023.10252579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-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/A5101507732","display_name":"Ruixuan Liu","orcid":"https://orcid.org/0000-0001-6249-5473"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruixuan Liu","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100403637","display_name":"Rui Chen","orcid":"https://orcid.org/0000-0002-3690-7902"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Chen","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064613859","display_name":"Abulikemu Abuduweili","orcid":"https://orcid.org/0000-0002-3186-1976"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abulikemu Abuduweili","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.6714,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.86091738,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"339","last_page":"345"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9911999702453613,"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/T10763","display_name":"Digital Transformation in Industry","score":0.9746999740600586,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/task","display_name":"Task (project management)","score":0.7340705394744873},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7237247824668884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7030209302902222},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.594605028629303},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5756415724754333},{"id":"https://openalex.org/keywords/scarcity","display_name":"Scarcity","score":0.5446580648422241},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.5431753993034363},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5286431908607483},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.48929402232170105},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4881342351436615},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.42998117208480835},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.3844972252845764},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3525164723396301},{"id":"https://openalex.org/keywords/knowledge-management","display_name":"Knowledge management","score":0.32805752754211426},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.17825227975845337},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.1761787235736847},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17236045002937317}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7340705394744873},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7237247824668884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7030209302902222},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.594605028629303},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5756415724754333},{"id":"https://openalex.org/C109747225","wikidata":"https://www.wikidata.org/wiki/Q815758","display_name":"Scarcity","level":2,"score":0.5446580648422241},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.5431753993034363},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5286431908607483},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.48929402232170105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4881342351436615},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.42998117208480835},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.3844972252845764},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3525164723396301},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.32805752754211426},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.17825227975845337},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1761787235736847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17236045002937317},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ccta54093.2023.10252579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta54093.2023.10252579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1986981734","https://openalex.org/W2151645094","https://openalex.org/W2325770295","https://openalex.org/W2415165331","https://openalex.org/W2419360510","https://openalex.org/W2609235478","https://openalex.org/W2810685774","https://openalex.org/W2889811970","https://openalex.org/W2890106798","https://openalex.org/W2946421367","https://openalex.org/W2953675945","https://openalex.org/W2955808192","https://openalex.org/W2962730651","https://openalex.org/W2963214840","https://openalex.org/W3006115429","https://openalex.org/W3098945776","https://openalex.org/W3112153464","https://openalex.org/W3121943662","https://openalex.org/W3175335528","https://openalex.org/W3187971485","https://openalex.org/W4200631349","https://openalex.org/W4226308007","https://openalex.org/W4287024747","https://openalex.org/W4289830116","https://openalex.org/W4293056258","https://openalex.org/W4293584584","https://openalex.org/W4318993798","https://openalex.org/W4382936341","https://openalex.org/W6750227808","https://openalex.org/W6756633688","https://openalex.org/W6805197500","https://openalex.org/W6811488005","https://openalex.org/W6840468421","https://openalex.org/W6843556268"],"related_works":["https://openalex.org/W4388430323","https://openalex.org/W4377866454","https://openalex.org/W2113355126","https://openalex.org/W2559881192","https://openalex.org/W2094345113","https://openalex.org/W3113143399","https://openalex.org/W4388624165","https://openalex.org/W2586362452","https://openalex.org/W2621386530","https://openalex.org/W2148892780"],"abstract_inverted_index":{"Human-robot":[0],"collaboration":[1,48],"(HRC)":[2],"is":[3,20,43,59,93,119,136],"one":[4],"key":[5],"component":[6],"to":[7,11,22,38,45,50,61,66,95,110,121,138],"achieving":[8],"flexible":[9],"manufacturing":[10],"meet":[12],"the":[13,97,159],"different":[14,144],"needs":[15],"of":[16],"customers.":[17],"However,":[18],"it":[19,42,58,151],"difficult":[21,60],"build":[23],"intelligent":[24],"robots":[25],"that":[26,133,162],"can":[27,165],"proactively":[28],"assist":[29],"humans":[30],"in":[31,68],"a":[32,122,126],"safe":[33,108],"and":[34,54,90,147],"efficient":[35,47,100],"way":[36],"due":[37,49,65],"several":[39],"challenges.":[40],"First,":[41],"challenging":[44],"achieve":[46],"diverse":[51],"human":[52,69,145],"behaviors":[53],"data":[55],"scarcity.":[56],"Second,":[57],"ensure":[62,111],"interactive":[63,112,167],"safety":[64,113,168],"uncertainty":[67],"behaviors.":[70,148],"This":[71],"paper":[72],"presents":[73],"an":[74],"integrated":[75],"framework":[76,104,118],"for":[77,99],"proactive":[78,170],"HRC.":[79],"A":[80],"robust":[81,107,137],"intention":[82],"prediction":[83],"module,":[84],"which":[85],"leverages":[86],"prior":[87],"task":[88,124,153],"information":[89],"human-in-the-loop":[91],"training,":[92],"learned":[94],"guide":[96],"robot":[98],"collaboration.":[101,171],"The":[102,116,130],"proposed":[103],"also":[105],"uses":[106],"control":[109],"under":[114],"uncertainty.":[115],"developed":[117],"applied":[120],"co-assembly":[123],"using":[125],"Kinova":[127],"Gen3":[128],"robot.":[129],"experiment":[131,160],"demonstrates":[132,161],"our":[134,163],"solution":[135,164],"environmental":[139],"changes":[140],"as":[141,143],"well":[142],"preferences":[146],"In":[149],"addition,":[150],"improves":[152],"efficiency":[154],"by":[155],"approximately":[156],"15-20%.":[157],"Moreover,":[158],"guarantee":[166],"during":[169]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
