{"id":"https://openalex.org/W7131847239","doi":"https://doi.org/10.3390/robotics15030049","title":"A Collaborative Robotic System for Autonomous Object Handling with Natural User Interaction","display_name":"A Collaborative Robotic System for Autonomous Object Handling with Natural User Interaction","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7131847239","doi":"https://doi.org/10.3390/robotics15030049"},"language":"en","primary_location":{"id":"doi:10.3390/robotics15030049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030049","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics15030049","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013417032","display_name":"Federico Neri","orcid":"https://orcid.org/0000-0002-2085-0892"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Federico Neri","raw_affiliation_strings":["DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2085-0892","affiliations":[{"raw_affiliation_string":"DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089399671","display_name":"Gaetano Lettera","orcid":"https://orcid.org/0000-0002-6650-1786"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gaetano Lettera","raw_affiliation_strings":["DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6650-1786","affiliations":[{"raw_affiliation_string":"DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Giacomo Palmieri","orcid":"https://orcid.org/0000-0001-7820-2890"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giacomo Palmieri","raw_affiliation_strings":["DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7820-2890","affiliations":[{"raw_affiliation_string":"DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016427055","display_name":"Massimo Callegari","orcid":"https://orcid.org/0000-0002-4065-3212"},"institutions":[{"id":"https://openalex.org/I122534668","display_name":"Marche Polytechnic University","ror":"https://ror.org/00x69rs40","country_code":"IT","type":"education","lineage":["https://openalex.org/I122534668"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Callegari","raw_affiliation_strings":["DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4065-3212","affiliations":[{"raw_affiliation_string":"DIISM\u2014Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy","institution_ids":["https://openalex.org/I122534668"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013417032"],"corresponding_institution_ids":["https://openalex.org/I122534668"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.39307506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"15","issue":"3","first_page":"49","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9103999733924866,"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":0.9103999733924866,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.03840000182390213,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.00559999980032444,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/flexibility","display_name":"Flexibility (engineering)","score":0.5996000170707703},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.548799991607666},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.541700005531311},{"id":"https://openalex.org/keywords/naturalness","display_name":"Naturalness","score":0.4999000132083893},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.4489000141620636},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4359999895095825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42579999566078186},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.40459999442100525},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3953999876976013},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.35359999537467957}],"concepts":[{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6632999777793884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6504999995231628},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5996000170707703},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.548799991607666},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.541700005531311},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5012999773025513},{"id":"https://openalex.org/C134537474","wikidata":"https://www.wikidata.org/wiki/Q17144832","display_name":"Naturalness","level":2,"score":0.4999000132083893},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.4489000141620636},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4359999895095825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42579999566078186},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.40459999442100525},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3953999876976013},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.35359999537467957},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C135641252","wikidata":"https://www.wikidata.org/wiki/Q738567","display_name":"Multimodal interaction","level":2,"score":0.3450999855995178},{"id":"https://openalex.org/C178718744","wikidata":"https://www.wikidata.org/wiki/Q2350070","display_name":"Voice command device","level":2,"score":0.33160001039505005},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.3303000032901764},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.32839998602867126},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.30869999527931213},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.3000999987125397},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.29789999127388},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.2922999858856201},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2842000126838684},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.2831000089645386},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2808000147342682},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.26669999957084656},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.257099986076355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25679999589920044},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.25540000200271606},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2513999938964844},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.25029999017715454}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics15030049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030049","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:be6d14fe46564021a8f2137f4c58ea38","is_oa":true,"landing_page_url":"https://doaj.org/article/be6d14fe46564021a8f2137f4c58ea38","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 15, Iss 3, p 49 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics15030049","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics15030049","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"Industry":[1],"5.0,":[2],"the":[3,100,155,159,175,178],"transition":[4],"from":[5],"fixed":[6],"traditional":[7,151],"automation":[8],"to":[9,36,62,121,145,150],"flexible":[10],"human\u2013robot":[11,172],"collaboration":[12],"(HRC)":[13],"needs":[14],"interfaces":[15],"that":[16,118,136],"are":[17],"both":[18],"intuitive":[19,171],"and":[20,81,130,170],"efficient.":[21],"This":[22],"paper":[23],"introduces":[24],"a":[25,48,57,72,112,141,165],"novel,":[26],"multimodal":[27,138],"control":[28],"system":[29,46,61,163],"for":[30,78,85,125,167,183],"autonomous":[31],"object":[32,79,96,131,185],"handling,":[33],"specifically":[34],"designed":[35],"enhance":[37],"natural":[38,181],"user":[39],"interaction":[40,182],"in":[41,71,180],"dynamic":[42],"work":[43],"environments.":[44],"The":[45,66,162],"integrates":[47],"6-Degrees":[49],"of":[50,158,177],"Freedom":[51],"(DoF)":[52],"collaborative":[53,160,184],"robot":[54],"(UR5e)":[55],"with":[56],"hand-eye":[58],"RGB-D":[59],"vision":[60,73],"achieve":[63],"robust":[64],"autonomy.":[65],"core":[67],"technical":[68],"contribution":[69],"lies":[70],"pipeline":[74],"utilizing":[75],"deep":[76],"learning":[77],"detection":[80],"point":[82],"cloud":[83],"processing":[84],"accurate":[86],"6D":[87],"pose":[88],"estimation,":[89],"enabling":[90],"advanced":[91],"tasks":[92],"such":[93],"as":[94],"human-aware":[95],"handover":[97],"directly":[98],"onto":[99],"operator\u2019s":[101],"hand.":[102],"Crucially,":[103],"an":[104],"Automatic":[105],"Speech":[106],"Recognition":[107],"(ASR)":[108],"is":[109],"incorporated,":[110],"providing":[111],"Natural":[113],"Language":[114],"Understanding":[115],"(NLU)":[116],"layer":[117],"allows":[119],"operators":[120],"issue":[122],"real-time":[123],"commands":[124],"task":[126],"modification,":[127],"error":[128],"correction":[129],"selection.":[132],"Experimental":[133],"results":[134],"demonstrate":[135],"this":[137],"approach":[139],"offers":[140],"streamlined":[142],"workflow":[143],"aiming":[144],"improve":[146],"operational":[147],"flexibility":[148],"compared":[149],"HMIs,":[152],"while":[153],"enhancing":[154],"perceived":[156],"naturalness":[157],"task.":[161],"establishes":[164],"framework":[166],"highly":[168],"responsive":[169],"workspaces,":[173],"advancing":[174],"state":[176],"art":[179],"manipulation.":[186]},"counts_by_year":[],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2026-02-28T00:00:00"}
