<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-01976223</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-25T20:23:14+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Planning Safe and Legible Hand-over Motions for Human-Robot Interaction</title>
            <author role="aut">
              <persName>
                <forename type="first">Jim</forename>
                <surname>Mainprice</surname>
              </persName>
              <idno type="halauthorid">614404-0</idno>
              <affiliation ref="#struct-392741"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Emrah Akin</forename>
                <surname>Sisbot</surname>
              </persName>
              <idno type="halauthorid">1410878-0</idno>
              <affiliation ref="#struct-392741"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Thierry</forename>
                <surname>Simeon</surname>
              </persName>
              <email type="md5">7cb78b347400b88979b2d4125ddce99a</email>
              <email type="domain">laas.fr</email>
              <idno type="idhal" notation="string">thierry-simeon</idno>
              <idno type="idhal" notation="numeric">171389</idno>
              <idno type="halauthorid" notation="string">42871-171389</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-9815-753X</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=L74V10IAAAAJ</idno>
              <affiliation ref="#struct-392741"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Rachid</forename>
                <surname>Alami</surname>
              </persName>
              <email type="md5">4cde8f071c9957070778ee49ded0bf35</email>
              <email type="domain">laas.fr</email>
              <ptr type="url" target="http://homepages.laas.fr/rachid/"/>
              <idno type="idhal" notation="string">rachid-alami</idno>
              <idno type="idhal" notation="numeric">3186</idno>
              <idno type="halauthorid" notation="string">22730-3186</idno>
              <idno type="IDREF">https://www.idref.fr/059057343</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-9558-8163</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=lda-c1UAAAAJ&amp;hl=fr</idno>
              <orgName ref="#struct-392741"/>
              <affiliation ref="#struct-392741"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Rachid</forename>
                <surname>Alami</surname>
              </persName>
              <email type="md5">4cde8f071c9957070778ee49ded0bf35</email>
              <email type="domain">laas.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2019-01-09 19:48:56</date>
              <date type="whenModified">2025-10-22 18:04:08</date>
              <date type="whenReleased">2019-01-16 15:17:29</date>
              <date type="whenProduced">2010</date>
              <date type="whenEndEmbargoed">2019-01-09</date>
              <ref type="file" target="https://laas.hal.science/hal-01976223v1/document">
                <date notBefore="2019-01-09"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://laas.hal.science/hal-01976223v1/file/2010-iarp-mainprice.pdf" id="file-1976223-1997911">
                <date notBefore="2019-01-09"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="200736">
                <persName>
                  <forename>Rachid</forename>
                  <surname>Alami</surname>
                </persName>
                <email type="md5">4cde8f071c9957070778ee49ded0bf35</email>
                <email type="domain">laas.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-01976223</idno>
            <idno type="halUri">https://laas.hal.science/hal-01976223</idno>
            <idno type="halBibtex">mainprice:hal-01976223</idno>
            <idno type="halRefHtml">&lt;i&gt;IARP/IEEE-RAS/EURON workshop on technical challenges for dependable robots in human environments&lt;/i&gt;, 2010, Toulouse, France</idno>
            <idno type="halRef">IARP/IEEE-RAS/EURON workshop on technical challenges for dependable robots in human environments, 2010, Toulouse, France</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-1976223-1997911"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-TLSE2">Université Toulouse 2</idno>
            <idno type="stamp" n="UNIV-TLSE3">Université de Toulouse</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INSA-TOULOUSE">Institut National des Sciences Appliquées de Toulouse</idno>
            <idno type="stamp" n="LAAS">Laboratoire d'analyse et d'architecture des systèmes</idno>
            <idno type="stamp" n="UT1-CAPITOLE">Université Toulouse 1 Capitole</idno>
            <idno type="stamp" n="LAAS-RIS" corresp="LAAS-ROBOTIQUE">Équipe Robotique et InteractionS</idno>
            <idno type="stamp" n="LAAS-ROBOTIQUE" corresp="LAAS">LAAS-Robotique</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="TOULOUSE-INP">Toulouse - INP</idno>
            <idno type="stamp" n="UNIV-UT3">Université Toulouse 3</idno>
            <idno type="stamp" n="UT3-INP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="UT3-TOULOUSEINP">Université de Toulouse / Toulouse INP</idno>
            <idno type="stamp" n="TEST7-HALCNRS">test 7 du portail hal cnrs</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="1">Not set</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="0">No</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Planning Safe and Legible Hand-over Motions for Human-Robot Interaction</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Jim</forename>
                    <surname>Mainprice</surname>
                  </persName>
                  <idno type="halauthorid">614404-0</idno>
                  <affiliation ref="#struct-392741"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Emrah Akin</forename>
                    <surname>Sisbot</surname>
                  </persName>
                  <idno type="halauthorid">1410878-0</idno>
                  <affiliation ref="#struct-392741"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Thierry</forename>
                    <surname>Simeon</surname>
                  </persName>
                  <email type="md5">7cb78b347400b88979b2d4125ddce99a</email>
                  <email type="domain">laas.fr</email>
                  <idno type="idhal" notation="string">thierry-simeon</idno>
                  <idno type="idhal" notation="numeric">171389</idno>
                  <idno type="halauthorid" notation="string">42871-171389</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-9815-753X</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=L74V10IAAAAJ</idno>
                  <affiliation ref="#struct-392741"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Rachid</forename>
                    <surname>Alami</surname>
                  </persName>
                  <email type="md5">4cde8f071c9957070778ee49ded0bf35</email>
                  <email type="domain">laas.fr</email>
                  <ptr type="url" target="http://homepages.laas.fr/rachid/"/>
                  <idno type="idhal" notation="string">rachid-alami</idno>
                  <idno type="idhal" notation="numeric">3186</idno>
                  <idno type="halauthorid" notation="string">22730-3186</idno>
                  <idno type="IDREF">https://www.idref.fr/059057343</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-9558-8163</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=lda-c1UAAAAJ&amp;hl=fr</idno>
                  <orgName ref="#struct-392741"/>
                  <affiliation ref="#struct-392741"/>
                </author>
              </analytic>
              <monogr>
                <meeting>
                  <title>IARP/IEEE-RAS/EURON  workshop on technical challenges for dependable robots in human environments</title>
                  <date type="start">2010</date>
                  <settlement>Toulouse</settlement>
                  <country key="FR">France</country>
                </meeting>
                <imprint/>
              </monogr>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="info">Computer Science [cs]</classCode>
              <classCode scheme="halDomain" n="info.info-ai">Computer Science [cs]/Artificial Intelligence [cs.AI]</classCode>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Human-Robot interaction brings new challenges to motion planning. The human, who is generally considered as an obstacle for the robot, needs to be considered as a separate entity that has a position, a posture, a field of view and an activity. These properties can be represented as new constraints to the motion generation mechanisms. In this paper we present three human related constraints to the motion planning for object hand over scenarios. We also describe a new planning method to consider these constraints. The resulting system automatically computes where the object should be transferred to the human, and the motion of the whole robot considering human's comfort.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-392741" status="OLD">
          <orgName>Équipe Robotique et InteractionS</orgName>
          <orgName type="acronym">LAAS-RIS</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.laas.fr/public/fr/ris</ref>
          </desc>
          <listRelation>
            <relation active="#struct-459" type="direct"/>
            <relation active="#struct-81148" type="indirect"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="indirect"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="indirect"/>
            <relation active="#struct-217752" type="indirect"/>
            <relation name="UPR8001" active="#struct-441569" type="indirect"/>
            <relation active="#struct-448187" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-459" status="OLD">
          <idno type="IdRef">199278792</idno>
          <idno type="ISNI">0000 0001 2188 216X </idno>
          <idno type="RNSR">199517454Y</idno>
          <idno type="ROR">https://ror.org/03vcm6439</idno>
          <orgName>Laboratoire d'analyse et d'architecture des systèmes</orgName>
          <orgName type="acronym">LAAS</orgName>
          <date type="start">1968-01-01</date>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>7 Av du colonel Roche 31077 TOULOUSE CEDEX 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.laas.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-81148" type="direct"/>
            <relation name="443875" active="#struct-443875" type="indirect"/>
            <relation active="#struct-116255" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
            <relation active="#struct-443875" type="indirect"/>
            <relation active="#struct-116256" type="direct"/>
            <relation active="#struct-217752" type="direct"/>
            <relation name="UPR8001" active="#struct-441569" type="direct"/>
            <relation active="#struct-448187" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-81148" status="VALID">
          <idno type="IdRef">026404354</idno>
          <idno type="ISNI">0000000121902837</idno>
          <idno type="ROR">https://ror.org/0443n9e75</idno>
          <orgName>Université Toulouse Capitole</orgName>
          <orgName type="acronym">UT Capitole</orgName>
          <date type="start">1970-01-01</date>
          <desc>
            <address>
              <addrLine>2 rue du Doyen-Gabriel-Marty - 31042 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ut-capitole.fr/</ref>
          </desc>
          <listRelation>
            <relation name="443875" active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-443875" status="VALID">
          <idno type="ROR">https://ror.org/017tgbk05</idno>
          <orgName>Communauté d'universités et établissements de Toulouse</orgName>
          <orgName type="acronym">Comue de Toulouse</orgName>
          <desc>
            <address>
              <addrLine>41 Allée Jules Guesde, 31000 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-toulouse.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116255" status="VALID">
          <idno type="IdRef">026388766</idno>
          <idno type="ISNI">0000 0001 2286 8343</idno>
          <idno type="ROR">https://ror.org/01h8pf755</idno>
          <idno type="Wikidata">Q858979</idno>
          <orgName>Institut National des Sciences Appliquées - Toulouse</orgName>
          <orgName type="acronym">INSA Toulouse</orgName>
          <date type="start">1963-10-21</date>
          <desc>
            <address>
              <addrLine>135, avenue de Rangueil - 31077 Toulouse cedex 4</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-toulouse.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-116256" status="VALID">
          <idno type="IdRef">026403994</idno>
          <idno type="ROR">https://ror.org/04ezk3x31</idno>
          <orgName>Université Toulouse - Jean Jaurès</orgName>
          <orgName type="acronym">UT2J</orgName>
          <date type="start">1971-01-01</date>
          <desc>
            <address>
              <addrLine>5 allées Antonio Machado - 31058 Toulouse Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse2.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-217752" status="OLD">
          <idno type="IdRef">026404672</idno>
          <idno type="ISNI">0000000121617331</idno>
          <idno type="ROR">https://ror.org/02v6kpv12</idno>
          <idno type="Wikidata">Q1273188</idno>
          <orgName>Université Toulouse III - Paul Sabatier</orgName>
          <orgName type="acronym">UT3</orgName>
          <date type="end">2025-01-01</date>
          <desc>
            <address>
              <addrLine>118 route de Narbonne - 31062 Toulouse</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-tlse3.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-448187" status="VALID">
          <idno type="IdRef">026388820</idno>
          <idno type="ISNI">0000000121766169</idno>
          <idno type="ROR">https://ror.org/033p9g875</idno>
          <orgName>Institut National Polytechnique (Toulouse)</orgName>
          <orgName type="acronym">Toulouse INP</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.inp-toulouse.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-443875" type="direct"/>
          </listRelation>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>