{"id":"https://openalex.org/W4406213298","doi":"https://doi.org/10.1145/3706029","title":"A Machine Learning Approach to Resolving Conflicts in Physical Human\u2013Robot Interaction","display_name":"A Machine Learning Approach to Resolving Conflicts in Physical Human\u2013Robot Interaction","publication_year":2025,"publication_date":"2025-01-09","ids":{"openalex":"https://openalex.org/W4406213298","doi":"https://doi.org/10.1145/3706029"},"language":"en","primary_location":{"id":"doi:10.1145/3706029","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3706029","pdf_url":null,"source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1145/3706029","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115823985","display_name":"Enes Ulas Dincer","orcid":"https://orcid.org/0000-0002-7072-8625"},"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":"Enes Ulas Dincer","raw_affiliation_strings":["College of Engineering, Koc University, Istanbul, Turkey","Ko\u00e7 University, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-7072-8625","affiliations":[{"raw_affiliation_string":"College of Engineering, Koc University, Istanbul, Turkey","institution_ids":["https://openalex.org/I1351752"]},{"raw_affiliation_string":"Ko\u00e7 University, Turkey","institution_ids":["https://openalex.org/I1351752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074763853","display_name":"Zaid Al-Saadi","orcid":"https://orcid.org/0000-0003-3321-1181"},"institutions":[{"id":"https://openalex.org/I135120706","display_name":"University of Baghdad","ror":"https://ror.org/007f1da21","country_code":"IQ","type":"education","lineage":["https://openalex.org/I135120706"]},{"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":["IQ","TR"],"is_corresponding":false,"raw_author_name":"Zaid Al-Saadi","raw_affiliation_strings":["College of Engineering, Koc University, Istanbul, Turkey and Al Khwarizmi College of Engineering, University of Baghdad, Baghdad, Iraq","Ko\u00e7 University, Turkey and University of Baghdad, Iraq"],"raw_orcid":"https://orcid.org/0000-0003-3321-1181","affiliations":[{"raw_affiliation_string":"College of Engineering, Koc University, Istanbul, Turkey and Al Khwarizmi College of Engineering, University of Baghdad, Baghdad, Iraq","institution_ids":["https://openalex.org/I135120706"]},{"raw_affiliation_string":"Ko\u00e7 University, Turkey and University of Baghdad, Iraq","institution_ids":["https://openalex.org/I135120706","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/I135120706","display_name":"University of Baghdad","ror":"https://ror.org/007f1da21","country_code":"IQ","type":"education","lineage":["https://openalex.org/I135120706"]},{"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":["IQ","TR"],"is_corresponding":false,"raw_author_name":"Yahya M. Hamad","raw_affiliation_strings":["College of Engineering, Koc University, Istanbul, Turkey and Al Khwarizmi College of Engineering, University of Baghdad, Baghdad, Iraq","Ko\u00e7 University, Turkey and University of Baghdad, Iraq"],"raw_orcid":"https://orcid.org/0000-0001-7515-5865","affiliations":[{"raw_affiliation_string":"College of Engineering, Koc University, Istanbul, Turkey and Al Khwarizmi College of Engineering, University of Baghdad, Baghdad, Iraq","institution_ids":["https://openalex.org/I135120706"]},{"raw_affiliation_string":"Ko\u00e7 University, Turkey and University of Baghdad, Iraq","institution_ids":["https://openalex.org/I135120706","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":["Faculty of Engineering, MEF University, Istanbul, Turkey","MEF University, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-4598-5558","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, MEF University, Istanbul, Turkey","institution_ids":["https://openalex.org/I1301968116"]},{"raw_affiliation_string":"MEF University, 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":["School of Computer Science, University of Nottingham, Nottingham, United Kingdom of Great Britain and Northern Ireland","University of Nottingham, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0003-3202-6750","affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Nottingham, Nottingham, United Kingdom of Great Britain and Northern Ireland","institution_ids":["https://openalex.org/I142263535"]},{"raw_affiliation_string":"University of 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":["College of Engineering, Koc University, Istanbul, Turkey","Ko\u00e7 University, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-6382-7334","affiliations":[{"raw_affiliation_string":"College of Engineering, Koc University, Istanbul, Turkey","institution_ids":["https://openalex.org/I1351752"]},{"raw_affiliation_string":"Ko\u00e7 University, Turkey","institution_ids":["https://openalex.org/I1351752"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8894,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.92555675,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"14","issue":"2","first_page":"1","last_page":"29"},"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9848999977111816,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9794999957084656,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5698288083076477},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5248042345046997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49499958753585815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4883558452129364},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.41992950439453125},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.32560914754867554}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5698288083076477},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5248042345046997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49499958753585815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4883558452129364},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.41992950439453125},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.32560914754867554}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3706029","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3706029","pdf_url":null,"source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3706029","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3706029","pdf_url":null,"source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1155971952","https://openalex.org/W1528932438","https://openalex.org/W1969623637","https://openalex.org/W1976163866","https://openalex.org/W1979780394","https://openalex.org/W1984877834","https://openalex.org/W2000982104","https://openalex.org/W2009192474","https://openalex.org/W2021199200","https://openalex.org/W2038973120","https://openalex.org/W2043536379","https://openalex.org/W2093847762","https://openalex.org/W2096851008","https://openalex.org/W2103075707","https://openalex.org/W2144808436","https://openalex.org/W2148722082","https://openalex.org/W2169513627","https://openalex.org/W2170043047","https://openalex.org/W2504989182","https://openalex.org/W2588978360","https://openalex.org/W2619879337","https://openalex.org/W2766203889","https://openalex.org/W2784881541","https://openalex.org/W2791908470","https://openalex.org/W2793677370","https://openalex.org/W2799280697","https://openalex.org/W2945117614","https://openalex.org/W2978133643","https://openalex.org/W3036967843","https://openalex.org/W3044355296","https://openalex.org/W3046045492","https://openalex.org/W3088224066","https://openalex.org/W3090654359","https://openalex.org/W3091996189","https://openalex.org/W3093774781","https://openalex.org/W3095837294","https://openalex.org/W3099715976","https://openalex.org/W3100615544","https://openalex.org/W3143066847","https://openalex.org/W3195113316","https://openalex.org/W3200726006","https://openalex.org/W4226167526","https://openalex.org/W4235804971","https://openalex.org/W4242933334","https://openalex.org/W4253639475","https://openalex.org/W4290098481","https://openalex.org/W4312771306","https://openalex.org/W4313176152","https://openalex.org/W4323659752","https://openalex.org/W4389121755","https://openalex.org/W4391750441"],"related_works":["https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W4366818884","https://openalex.org/W2248308732","https://openalex.org/W4392651289"],"abstract_inverted_index":{"As":[0],"artificial":[1],"intelligence":[2],"techniques":[3],"become":[4],"more":[5,302],"sophisticated,":[6],"we":[7,70],"anticipate":[8],"that":[9,184,238,277,300],"robots":[10],"collaborating":[11],"with":[12,284,339],"humans":[13,305,338],"will":[14],"develop":[15],"their":[16],"own":[17],"intentions,":[18],"leading":[19],"to":[20,51,57,83,95,121,139,231,245,268,304],"potential":[21],"conflicts":[22,53,194],"in":[23,33,93,111,124,216,223,248,319,353],"interaction.":[24],"This":[25,207,290],"development":[26],"calls":[27],"for":[28,102,226,348],"advanced":[29],"conflict":[30,112],"resolution":[31],"strategies":[32],"physical":[34],"human\u2013robot":[35],"interaction":[36,170,283,298,336],"(pHRI),":[37],"a":[38,46,122,165,198,229,232,252,264,293,325,340,343],"key":[39],"focus":[40,71],"of":[41,75,86,127,132,143,177,209,266,273,282,335,337],"our":[42,68],"research.":[43],"We":[44],"use":[45],"machine":[47],"learning":[48],"(ML)":[49],"classifier":[50],"detect":[52],"during":[54,187],"co-manipulation":[55],"tasks":[56],"adapt":[58],"the":[59,84,87,90,103,116,125,133,141,144,155,204,239,246,257,270,274,278,285,316,332,354],"robot\u2019s":[60],"behavior":[61],"accordingly":[62],"using":[63],"an":[64,97,181,297],"admittance":[65],"controller.":[66],"In":[67],"approach,":[69,147],"on":[72],"two":[73],"groups":[74],"interactions,":[76],"namely":[77],"\u201charmonious\u201d":[78],"and":[79,89,106,108,196,219,306,331,342],"\u201cconflicting,\u201d":[80],"corresponding":[81],"respectively":[82],"cases":[85],"human":[88,107,114,205],"robot":[91,109,183,200,286],"working":[92],"harmony":[94],"transport":[96],"object":[98],"when":[99,113],"they":[100],"aim":[101],"same":[104],"target,":[105],"are":[110],"changes":[115],"manipulation":[117],"plan,":[118],"e.g.":[119],"due":[120],"change":[123],"direction":[126],"movement":[128],"or":[129],"parking":[130],"location":[131],"object.":[134],"Co-manipulation":[135],"scenarios":[136],"were":[137,172],"designed":[138],"investigate":[140],"efficacy":[142],"proposed":[145,240],"ML":[146,156,241],"involving":[148],"20":[149],"participants.":[150],"Task":[151],"performance":[152,330],"achieved":[153],"by":[154],"approach":[157,242,345],"was":[158],"compared":[159],"against":[160],"three":[161],"alternative":[162],"approaches:":[163],"(a)":[164],"rule-based":[166],"(RB)":[167],"Approach,":[168],"where":[169],"behaviors":[171],"rule-derived":[173],"from":[174],"statistical":[175],"distributions":[176],"haptic":[178],"features;":[179],"(b)":[180],"unyielding":[182],"is":[185,211,220,243,287,314,324,346],"proactive":[186],"harmonious":[188],"interactions":[189],"but":[190],"does":[191],"not":[192,315],"resolve":[193],"otherwise,":[195],"(c)":[197],"passive":[199],"which":[201,259],"always":[202],"follows":[203],"partner.":[206],"mode":[208,281,299,334],"cooperation":[210],"known":[212],"as":[213],"\u201chand":[214],"guidance\u201d":[215],"pHRI":[217,351],"literature":[218],"frequently":[221],"used":[222],"industrial":[224],"settings":[225],"so-called":[227],"\u201cteaching\u201d":[228],"trajectory":[230],"collaborative":[233],"robot.":[234],"The":[235],"results":[236],"show":[237],"superior":[244],"others":[247],"task":[249,320,329],"performance.":[250,321],"However,":[251],"detailed":[253],"questionnaire":[254],"administered":[255],"after":[256],"experiments,":[258],"contains":[260],"several":[261],"metrics,":[262],"covering":[263],"spectrum":[265],"dimensions":[267],"measure":[269],"subjective":[271],"opinion":[272],"participants,":[275],"reveals":[276],"most":[279,317],"preferred":[280,333],"surprisingly":[288],"passive.":[289],"preference":[291],"indicates":[292],"strong":[294],"inclination":[295],"toward":[296],"gives":[301],"control":[303],"offers":[307],"less":[308],"demanding":[309],"interaction,":[310],"even":[311],"if":[312],"it":[313],"efficient":[318],"Hence,":[322],"there":[323],"clear":[326],"trade-off":[327],"between":[328],"robot,":[341],"well-balanced":[344],"necessary":[347],"designing":[349],"effective":[350],"systems":[352],"future.":[355]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
