{"id":"https://openalex.org/W4323659752","doi":"https://doi.org/10.1145/3568162.3576969","title":"Resolving Conflicts During Human-Robot Co-Manipulation","display_name":"Resolving Conflicts During Human-Robot Co-Manipulation","publication_year":2023,"publication_date":"2023-03-09","ids":{"openalex":"https://openalex.org/W4323659752","doi":"https://doi.org/10.1145/3568162.3576969"},"language":"en","primary_location":{"id":"doi:10.1145/3568162.3576969","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3568162.3576969","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3568162.3576969","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3568162.3576969","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074763853","display_name":"Zaid Al-Saadi","orcid":"https://orcid.org/0000-0003-3321-1181"},"institutions":[{"id":"https://openalex.org/I1351752","display_name":"Ko\u00e7 University","ror":"https://ror.org/00jzwgz36","country_code":"TR","type":"education","lineage":["https://openalex.org/I1351752"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Zaid Al-Saadi","raw_affiliation_strings":["Koc University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0003-3321-1181","affiliations":[{"raw_affiliation_string":"Koc University, Istanbul, Turkey","institution_ids":["https://openalex.org/I1351752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009578180","display_name":"Yahya M. Hamad","orcid":"https://orcid.org/0000-0001-7515-5865"},"institutions":[{"id":"https://openalex.org/I1351752","display_name":"Ko\u00e7 University","ror":"https://ror.org/00jzwgz36","country_code":"TR","type":"education","lineage":["https://openalex.org/I1351752"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Yahya M. Hamad","raw_affiliation_strings":["Koc University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-7515-5865","affiliations":[{"raw_affiliation_string":"Koc University, Istanbul, Turkey","institution_ids":["https://openalex.org/I1351752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028405627","display_name":"Yusuf Ayd\u0131n","orcid":"https://orcid.org/0000-0002-4598-5558"},"institutions":[{"id":"https://openalex.org/I1301968116","display_name":"MEF University","ror":"https://ror.org/05jz51y94","country_code":"TR","type":"education","lineage":["https://openalex.org/I1301968116"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Yusuf Aydin","raw_affiliation_strings":["MEF University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-4598-5558","affiliations":[{"raw_affiliation_string":"MEF University, Istanbul, Turkey","institution_ids":["https://openalex.org/I1301968116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054468538","display_name":"Ay\u015fe K\u00fc\u00e7\u00fcky\u0131lmaz","orcid":"https://orcid.org/0000-0003-3202-6750"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ayse Kucukyilmaz","raw_affiliation_strings":["University of Nottingham, Nottingham, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0003-3202-6750","affiliations":[{"raw_affiliation_string":"University of Nottingham, Nottingham, United Kingdom","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054290690","display_name":"\u00c7a\u011fatay Ba\u015fdo\u011fan","orcid":"https://orcid.org/0000-0002-6382-7334"},"institutions":[{"id":"https://openalex.org/I1351752","display_name":"Ko\u00e7 University","ror":"https://ror.org/00jzwgz36","country_code":"TR","type":"education","lineage":["https://openalex.org/I1351752"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Cagatay Basdogan","raw_affiliation_strings":["Koc University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-6382-7334","affiliations":[{"raw_affiliation_string":"Koc University, Istanbul, Turkey","institution_ids":["https://openalex.org/I1351752"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"243","last_page":"251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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":0.9986000061035156,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9853000044822693,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9758999943733215,"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":0.748782753944397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7273727655410767},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.6383998990058899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6151009798049927},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5666406154632568},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.552980363368988},{"id":"https://openalex.org/keywords/conflict-resolution","display_name":"Conflict resolution","score":0.4758724272251129},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4339744448661804},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4083611071109772},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32476139068603516},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15750133991241455},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0921754240989685}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.748782753944397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7273727655410767},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.6383998990058899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6151009798049927},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5666406154632568},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.552980363368988},{"id":"https://openalex.org/C21711469","wikidata":"https://www.wikidata.org/wiki/Q1194317","display_name":"Conflict resolution","level":2,"score":0.4758724272251129},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4339744448661804},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4083611071109772},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32476139068603516},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15750133991241455},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0921754240989685},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1145/3568162.3576969","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3568162.3576969","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3568162.3576969","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:openaccess.mef.edu.tr:20.500.11779/1996","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.11779/1996","pdf_url":"https://gcris.mef.edu.tr/bitstream/20.500.11779/1996/1/3568162.3576969.pdf","source":{"id":"https://openalex.org/S4306400448","display_name":"MEF University Institutional Repository (MEF University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1301968116","host_organization_name":"MEF University","host_organization_lineage":["https://openalex.org/I1301968116"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:nottingham-repository.worktribe.com:15718311","is_oa":true,"landing_page_url":"https://nottingham-repository.worktribe.com/output/15718311","pdf_url":"https://nottingham-repository.worktribe.com/file/15718311/1/Resolving%20Conflicts%20During%20Human-Robot%20Co-Manipulation","source":{"id":"https://openalex.org/S4306402483","display_name":"Repository@Nottingham (University of Nottingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I142263535","host_organization_name":"University of Nottingham","host_organization_lineage":["https://openalex.org/I142263535"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Presentation / Conference Contribution"},{"id":"pmh:oai:cdm21054.contentdm.oclc.org:IR/11208","is_oa":false,"landing_page_url":"http://cdm21054.contentdm.oclc.org/cdm/ref/collection/IR/id/11208","pdf_url":null,"source":{"id":"https://openalex.org/S4306401341","display_name":"Digital Collections portal (Ko\u00e7 University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1351752","host_organization_name":"Ko\u00e7 University","host_organization_lineage":["https://openalex.org/I1351752"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"Conference proceeding"}],"best_oa_location":{"id":"doi:10.1145/3568162.3576969","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3568162.3576969","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3568162.3576969","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2831669129","display_name":null,"funder_award_id":"EP/T022493/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G3308442291","display_name":null,"funder_award_id":"EP/S033718/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6136994381","display_name":null,"funder_award_id":"EP/T022493/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7256125567","display_name":null,"funder_award_id":"EP/S033718/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320310603","display_name":"University of Baghdad","ror":"https://ror.org/007f1da21"},{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323659752.pdf","grobid_xml":"https://content.openalex.org/works/W4323659752.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1976163866","https://openalex.org/W1984877834","https://openalex.org/W2009192474","https://openalex.org/W2012913160","https://openalex.org/W2021199200","https://openalex.org/W2038973120","https://openalex.org/W2093847762","https://openalex.org/W2103075707","https://openalex.org/W2104332709","https://openalex.org/W2105925198","https://openalex.org/W2169513627","https://openalex.org/W2619879337","https://openalex.org/W2740013582","https://openalex.org/W2791908470","https://openalex.org/W2945117614","https://openalex.org/W2963507484","https://openalex.org/W2978133643","https://openalex.org/W2997591727","https://openalex.org/W3091996189","https://openalex.org/W3093774781","https://openalex.org/W3095837294","https://openalex.org/W3127104011","https://openalex.org/W3143066847","https://openalex.org/W3195113316","https://openalex.org/W3200726006","https://openalex.org/W4285079687","https://openalex.org/W4290098481","https://openalex.org/W4294604415","https://openalex.org/W4312771306"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W4392899229","https://openalex.org/W2921166921","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"This":[0,148],"paper":[1],"proposes":[2],"a":[3,17,20,27,33,92,128,160,201,240,250],"machine":[4],"learning":[5],"(ML)":[6],"approach":[7],"to":[8,37,57,77,100,105,108,122,152,168,184,199,203,236],"detect":[9,221],"and":[10,19,41,82,121,142,189,198,205,223,232,249],"resolve":[11,255],"motion":[12,117,173],"conflicts":[13,222],"that":[14,68,217,243,253],"occur":[15],"between":[16,39,139],"human":[18,81,125,141,155,230,247],"proactive":[21,251],"robot":[22,84,144,151,172,242,252],"during":[23,46,145,192],"the":[24,53,59,80,83,87,102,109,124,136,140,143,146,150,154,171,207,214,224,237,246],"execution":[25],"of":[26,62,195,213,239],"physically":[28],"collaborative":[29,193],"task.":[30,147],"We":[31],"train":[32,204],"random":[34,208],"forest":[35,209],"classifier":[36],"distinguish":[38],"harmonious":[40,188],"conflicting":[42,190],"human-robot":[43],"interaction":[44,138],"behaviors":[45],"object":[47,88],"co-manipulation.":[48],"Kinesthetic":[49],"information":[50],"generated":[51],"through":[52],"teamwork":[54],"is":[55,98,130,159,166,182],"used":[56,167],"describe":[58],"interactive":[60,116],"quality":[61],"collaboration.":[63],"As":[64],"such,":[65],"we":[66],"demonstrate":[67],"features":[69],"derived":[70],"from":[71],"haptic":[72],"(force/torque)":[73],"data":[74],"are":[75,119],"sufficient":[76],"classify":[78],"if":[79],"harmoniously":[85],"manipulate":[86],"or":[89],"they":[90],"face":[91],"conflict.":[93,161],"A":[94],"conflict":[95,129,226],"resolution":[96,227],"strategy":[97],"implemented":[99],"get":[101],"robotic":[103],"partner":[104,248],"proactively":[106,169],"contribute":[107],"task":[110],"via":[111],"online":[112],"trajectory":[113],"planning":[114],"whenever":[115],"patterns":[118],"harmonious,":[120],"follow":[123,153],"lead":[126],"when":[127,157,174],"detected.":[131],"An":[132,162,179],"admittance":[133],"controller":[134],"regulates":[135],"physical":[137],"enables":[149],"passively":[156],"there":[158],"artificial":[163],"potential":[164],"field":[165],"control":[170],"partners":[175],"work":[176],"in":[177],"harmony.":[178],"experimental":[180],"study":[181,215],"designed":[183],"create":[185,200],"scenarios":[186],"involving":[187],"interactions":[191],"manipulation":[194],"an":[196],"object,":[197],"dataset":[202],"test":[206],"classifier.":[210],"The":[211],"results":[212],"show":[216],"ML":[218],"can":[219],"successfully":[220],"proposed":[225],"mechanism":[228],"reduces":[229],"force":[231],"effort":[233],"significantly":[234],"compared":[235],"case":[238],"passive":[241],"always":[244],"follows":[245],"cannot":[254],"conflicts.":[256]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2023-03-10T00:00:00"}