{"id":"https://openalex.org/W2783126745","doi":"https://doi.org/10.1145/3171221.3171245","title":"Compact Real-time Avoidance on a Humanoid Robot for Human-robot Interaction","display_name":"Compact Real-time Avoidance on a Humanoid Robot for Human-robot Interaction","publication_year":2018,"publication_date":"2018-02-26","ids":{"openalex":"https://openalex.org/W2783126745","doi":"https://doi.org/10.1145/3171221.3171245","mag":"2783126745"},"language":"en","primary_location":{"id":"doi:10.1145/3171221.3171245","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3171221.3171245","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1801.05671","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101926776","display_name":"Phuong D. H. Nguyen","orcid":"https://orcid.org/0000-0002-7017-196X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Dong Hai Phuong Nguyen","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031321219","display_name":"Matej Hoffmann","orcid":"https://orcid.org/0000-0001-8137-3412"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ","IT"],"is_corresponding":false,"raw_author_name":"Matej Hoffmann","raw_affiliation_strings":["Czech Technical University in Prague &amp; Istituto Italiano di Tecnologia, Prague, Czech Rep"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague &amp; Istituto Italiano di Tecnologia, Prague, Czech Rep","institution_ids":["https://openalex.org/I44504214","https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020277024","display_name":"Alessandro Roncone","orcid":"https://orcid.org/0000-0001-7385-1875"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alessandro Roncone","raw_affiliation_strings":["Yale University, New Haven, CT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066569898","display_name":"Ugo Pattacini","orcid":"https://orcid.org/0000-0001-8754-1632"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ugo Pattacini","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.6452,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.95578705,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"416","last_page":"424"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9991000294685364,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9986000061035156,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8196473121643066},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7542259693145752},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5918854475021362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5780690908432007},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5567505359649658},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5234567523002625},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4865085482597351},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.46032989025115967},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4336177110671997},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4306229054927826},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41267716884613037},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32958725094795227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2781779170036316}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8196473121643066},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7542259693145752},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5918854475021362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5780690908432007},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5567505359649658},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5234567523002625},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4865085482597351},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.46032989025115967},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4336177110671997},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4306229054927826},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41267716884613037},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32958725094795227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2781779170036316},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3171221.3171245","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3171221.3171245","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1801.05671","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.05671","pdf_url":"https://arxiv.org/pdf/1801.05671","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pearl.plymouth.ac.uk:10026.1/13016","is_oa":true,"landing_page_url":"http://hdl.handle.net/10026.1/13016","pdf_url":"http://hdl.handle.net/10026.1/13016","source":{"id":"https://openalex.org/S4306402507","display_name":"PEARL (University of Plymouth)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I897542642","host_organization_name":"University of Plymouth","host_organization_lineage":["https://openalex.org/I897542642"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1801.05671","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1801.05671","pdf_url":"https://arxiv.org/pdf/1801.05671","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2987511541","display_name":null,"funder_award_id":"642667","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G3345895242","display_name":null,"funder_award_id":"H2020-MSCA","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"},{"id":"https://openalex.org/G7411585938","display_name":null,"funder_award_id":"GA17-","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G8990078534","display_name":null,"funder_award_id":"GA17-15697Y","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320309500","display_name":"Rensselaer Polytechnic Institute","ror":"https://ror.org/01rtyzb94"},{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W99952337","https://openalex.org/W152565581","https://openalex.org/W1030232638","https://openalex.org/W1603219075","https://openalex.org/W1912649600","https://openalex.org/W1970495039","https://openalex.org/W1988195118","https://openalex.org/W1993999483","https://openalex.org/W2001737341","https://openalex.org/W2052954018","https://openalex.org/W2068946839","https://openalex.org/W2080873731","https://openalex.org/W2103120971","https://openalex.org/W2104332709","https://openalex.org/W2116113712","https://openalex.org/W2123871098","https://openalex.org/W2128722009","https://openalex.org/W2135533529","https://openalex.org/W2149085596","https://openalex.org/W2151547103","https://openalex.org/W2154777391","https://openalex.org/W2161222115","https://openalex.org/W2163400462","https://openalex.org/W2175012183","https://openalex.org/W2177274602","https://openalex.org/W2194775991","https://openalex.org/W2221713116","https://openalex.org/W2273989283","https://openalex.org/W2279098215","https://openalex.org/W2382036597","https://openalex.org/W2515603221","https://openalex.org/W2529113322","https://openalex.org/W2559085405","https://openalex.org/W2565630032","https://openalex.org/W2571476565","https://openalex.org/W2593463620","https://openalex.org/W2762248135","https://openalex.org/W2771096574","https://openalex.org/W2951856387","https://openalex.org/W2952449568","https://openalex.org/W4256638686"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W4293926484","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2910269320","https://openalex.org/W1886477626"],"abstract_inverted_index":{"With":[0],"robots":[1],"leaving":[2],"factories":[3],"and":[4,18,25,121,133,142,170,178],"entering":[5,99],"less":[6],"controlled":[7],"domains,":[8],"possibly":[9],"sharing":[10],"the":[11,22,26,57,87,100,105,108,119,122,136,155,162],"space":[12,35,84],"with":[13,173],"humans,":[14,38],"safety":[15,53,102,116,137],"is":[16,29,126,131,171],"paramount":[17],"multimodal":[19],"awareness":[20],"of":[21,56,154,161,180],"body":[23,89,124,144],"surface":[24],"surrounding":[27],"environment":[28],"fundamental.":[30],"Taking":[31],"inspiration":[32],"from":[33],"peripersonal":[34,83],"representations":[36],"in":[37,167],"we":[39,150],"present":[40],"a":[41,44,51,62,69,81,92],"framework":[42],"on":[43,104],"humanoid":[45],"robot":[46,141],"that":[47,95,113],"dynamically":[48],"maintains":[49],"such":[50],"protective":[52],"zone,":[54],"composed":[55],"following":[58],"main":[59],"components:":[60],"(i)":[61],"human":[63,143,156],"2D":[64],"keypoints":[65],"estimation":[66],"pipeline":[67],"employing":[68],"deep":[70],"learning":[71],"based":[72],"algorithm,":[73],"extended":[74],"here":[75],"into":[76,107],"3D":[77],"using":[78],"disparity;":[79],"(ii)":[80],"distributed":[82],"representation":[85],"around":[86,139],"robot\u00bbs":[88,101,120],"parts;":[90],"(iii)":[91],"reaching":[93],"controller":[94],"incorporates":[96],"all":[97],"obstacles":[98],"zone":[103,138],"fly":[106],"task.":[109],"Pilot":[110],"experiments":[111],"demonstrate":[112,151],"an":[114],"effective":[115],"margin":[117],"between":[118],"human\u00bbs":[123],"parts":[125,145],"kept.":[127],"The":[128],"proposed":[129],"solution":[130],"flexible":[132],"versatile":[134],"since":[135],"individual":[140],"can":[146],"be":[147],"selectively":[148],"modulated---here":[149],"stronger":[152],"avoidance":[153],"head":[157],"compared":[158],"to":[159],"rest":[160],"body.":[163],"Our":[164],"system":[165],"works":[166],"real":[168],"time":[169],"self-contained,":[172],"no":[174],"external":[175],"sensory":[176],"equipment":[177],"use":[179],"onboard":[181],"cameras":[182],"only.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
