{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:34:04Z","timestamp":1760243644681,"version":"build-2065373602"},"reference-count":14,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2012,5,31]],"date-time":"2012-05-31T00:00:00Z","timestamp":1338422400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In working environments with large manipulators, accidental collisions can cause severe personal injuries and can seriously damage manipulators, necessitating the development of an emergency stop algorithm to prevent such occurrences. In this paper, we propose an emergency stop system for the efficient and safe operation of a manipulator by applying an intelligent emergency stop algorithm. Our proposed intelligent algorithm considers the direction of motion of the manipulator. In addition, using a new regression method, the algorithm includes a decision step that determines whether a detected object is a collision-causing obstacle or a part of the manipulator. We apply our emergency stop system to a two-link manipulator and assess the performance of our intelligent emergency stop algorithm as compared with other models.<\/jats:p>","DOI":"10.3390\/s120607451","type":"journal-article","created":{"date-parts":[[2012,5,31]],"date-time":"2012-05-31T09:55:29Z","timestamp":1338458129000},"page":"7451-7467","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Intelligent Emergency Stop Algorithm for a Manipulator Using a New Regression Method"],"prefix":"10.3390","volume":"12","author":[{"given":"Minkyu","family":"Cheon","sequence":"first","affiliation":[{"name":"The School of Electrical and Electronic Engineering, Yonsei University, 134 Shinchon-Dong, Seodaemun-Gu, Seoul 120-749, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jeisung","family":"Lee","sequence":"additional","affiliation":[{"name":"The School of Electrical and Electronic Engineering, Yonsei University, 134 Shinchon-Dong, Seodaemun-Gu, Seoul 120-749, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wonju","family":"Lee","sequence":"additional","affiliation":[{"name":"The School of Electrical and Electronic Engineering, Yonsei University, 134 Shinchon-Dong, Seodaemun-Gu, Seoul 120-749, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chang-Ho","family":"Hyun","sequence":"additional","affiliation":[{"name":"The School of Electrical Electronic and Control Engineering, Kongju National University, 275 Budae-Dong, Seobuk-Gu, Cheonan, Chungnam 331-717, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mignon","family":"Park","sequence":"additional","affiliation":[{"name":"The School of Electrical and Electronic Engineering, Yonsei University, 134 Shinchon-Dong, Seodaemun-Gu, Seoul 120-749, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2012,5,31]]},"reference":[{"key":"ref_1","unstructured":"Higashijima, K., Onda, H., and Ogasawara, T. (1997, January 7\u20139). Planning for Wire Obstacle Avoidance Using Ultrasonic Sensors. Monterey, CA, USA."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Higashijima, K., Onda, H., and Ogasawara, T. (1998, January 13\u201317). A Study on Estimation Wire Obstacle Using Ultrasonic Sensors and Planning for Avoidance. Victoria, BC, Canada. Volume 3.","DOI":"10.1109\/IROS.1998.724830"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"774","DOI":"10.1109\/70.782033","article-title":"Ultrasonic potential field sensor for obstacle avoidance","volume":"15","author":"Veelaert","year":"1999","journal-title":"IEEE Trans. Robotic. Autom."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"213","DOI":"10.1109\/56.2085","article-title":"Obstacle avoidance with ultrasonic sensors","volume":"4","author":"Borenstein","year":"1988","journal-title":"IEEE J. Robotic. 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Volume 1.","DOI":"10.1109\/IROS.2003.1250741"},{"key":"ref_9","unstructured":"Kang, C.-S., Lee, J., Cheon, M., and Park, M. (2010, January 1\u20133). Development of Efficient Emergency Stop Algorithm for Manipulator. Kyoto, Japan."},{"key":"ref_10","unstructured":"Atkeson, C.G. (1991, January 9\u201311). Using Locally Weighted Regression for Robot Learning. Sacramento, CA, USA. Volume 2."},{"key":"ref_11","unstructured":"Schaal, S., and Atkeson, C.G. (1994, January 12\u201316). Robot Learning by Nonparametric Regression. Munich, Germany. Volume 1."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Vlassis, N., and Krose, B. (1999, January 17\u201321). Robot Environment Modeling via Principal Component Regression. Kyongju, Korea. 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