{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:53:36Z","timestamp":1761490416744,"version":"3.41.2"},"reference-count":48,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2018,1,15]],"date-time":"2018-01-15T00:00:00Z","timestamp":1515974400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,1,15]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to increase the safety of the robots\u2019 operation by developing a novel method for real-time implementation of velocity scaling and obstacle avoidance as the two widely accepted safety increasing concepts.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A fuzzy version of dynamic movement primitive (DMP) framework is proposed as a real-time trajectory generator with imbedded velocity scaling capability. Time constant of the DMP system is determined by a fuzzy system which makes decisions based on the distance from obstacle to the robot\u2019s workspace and its velocity projection toward the workspace. Moreover, a combination of the DMP framework with a human-like steering mechanism and a novel configuration of virtual impedances is proposed for real-time obstacle avoidance.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The results confirm the effectiveness of the proposed method in real-time implementation of the velocity scaling and obstacle avoidance concepts in different cases of single and multiple stationary obstacles as well as moving obstacles.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>As the provided experiments indicate, the proposed method can effectively increase the real-time safety of the robots\u2019 operations. This is achieved by developing a simple method with low computational loads.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper proposes a novel method for real-time implementation of velocity scaling and obstacle avoidance concepts. This method eliminates the need for modification of original DMP formulation. The velocity scaling concept is implemented by using a fuzzy system to adjust the DMP\u2019s time constant. Furthermore, the novel impedance configuration makes it possible to obtain a non-oscillatory convergence to the desired path, in all degrees of freedom.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2017-0035","type":"journal-article","created":{"date-parts":[[2017,12,15]],"date-time":"2017-12-15T09:15:31Z","timestamp":1513329331000},"page":"110-126","source":"Crossref","is-referenced-by-count":6,"title":["Real-time velocity scaling and obstacle avoidance for industrial robots using fuzzy dynamic movement primitives and virtual impedances"],"prefix":"10.1108","volume":"45","author":[{"given":"Iman","family":"Kardan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alireza","family":"Akbarzadeh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ali","family":"Mousavi Mohammadi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"issue":"6","key":"key2020100100395388300_ref001","doi-asserted-by":"crossref","first-page":"575","DOI":"10.1108\/IR-07-2014-0363","article-title":"Solving peg-in-hole tasks by human demonstration and exception strategies","volume":"41","year":"2014","journal-title":"Industrial Robot: An International Journal"},{"first-page":"479","article-title":"Collision avoidance among multiple robots using virtual impedance","year":"1989","key":"key2020100100395388300_ref002"},{"key":"key2020100100395388300_ref003","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1016\/j.robot.2014.12.011","article-title":"Learning point-to-point movements on an elastic limb using dynamic movement primitives","volume":"66","year":"2015","journal-title":"Robotics and Autonomous Systems"},{"issue":"12","key":"key2020100100395388300_ref004","doi-asserted-by":"crossref","first-page":"1031","DOI":"10.1177\/0278364902021012002","article-title":"Elastic strips: a framework for motion generation in human environments","volume":"21","year":"2002","journal-title":"The International Journal of Robotics Research"},{"first-page":"1888","article-title":"Uncalibrated stereo visual servoing for manipulators using virtual impedance control","year":"2014","key":"key2020100100395388300_ref005"},{"first-page":"1","article-title":"Design of a new cost-effective head for a low-cost humanoid robot","year":"2016","key":"key2020100100395388300_ref006"},{"issue":"5","key":"key2020100100395388300_ref007","doi-asserted-by":"crossref","first-page":"2581","DOI":"10.1109\/TMECH.2015.2510165","article-title":"Learning compliant movement primitives through demonstration and statistical generalization","volume":"21","year":"2016","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"2","key":"key2020100100395388300_ref008","first-page":"343","article-title":"Behavioral dynamics of steering, obstable avoidance, and route selection","volume":"29","year":"2003","journal-title":"Journal of Experimental Psychology: Human Perception and Performance"},{"issue":"1\/3","key":"key2020100100395388300_ref009","first-page":"13","article-title":"A dynamical model of visually-guided steering, obstacle avoidance, and route selection","volume":"54","year":"2003","journal-title":"International Journal of Computer Vision"},{"key":"key2020100100395388300_ref010","first-page":"5\/1","article-title":"Safety issues in modern applications of robots","volume-title":"IEE Colloquium on Safety and Reliability of Complex Robotic Systems","year":"1994"},{"key":"key2020100100395388300_ref011","unstructured":"Hoffmann, H. and Mitchell, D. 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