{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T13:24:07Z","timestamp":1770297847486,"version":"3.49.0"},"reference-count":24,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2021,6,14]],"date-time":"2021-06-14T00:00:00Z","timestamp":1623628800000},"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":[[2021,11,16]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Many work conditions require manipulators to open cabinet doors and then gain access to the desired workspace. However, after opening, the unlocked doors can easily close, interrupt a task and potentially break the operating end-effectors. This paper aims to address a manipulator's behavior planning problem for responding to a dynamic workspace released by door opening.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A dynamic model of the restricted workspace released by an unlocked door is established. As a whole system to treat, the interactions between the workspace and robot are analyzed by using a partially observable Markov decision process. A self-protective policy decision executed as a belief tree is proposed. To respond to the policy, this study has designed three types of actions: stay on guard in the workspace, using an elbow joint to defense the door and linear escape out of the workspace for self-protection by observing collision risk levels to trigger them. Finally, this study proposes self-protective motion controllers based on risk time optimization to act to the planned actions.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The elbow defense could balance robotic safety and work efficiency by interrupting the end-effector's work and using the elbow joint to prevent the door-closing in an active collision way. Compared with the stay and escape action, the advantage of the elbow defense is having a predictable performance to quick callback the interrupted work after the risk was relieved.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This work provides guidance for the safe operation of a class of robot operations and the upgrade of motion planning.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-02-2021-0025","type":"journal-article","created":{"date-parts":[[2021,6,14]],"date-time":"2021-06-14T07:36:53Z","timestamp":1623656213000},"page":"803-811","source":"Crossref","is-referenced-by-count":7,"title":["Self-protective motion planning for mobile manipulators in a dynamic door-closing 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