<?xml version="1.0" encoding="utf-8"?>
<export-example>
  <doc>
    <id>5782</id>
    <completedYear/>
    <publishedYear>2025</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber/>
    <edition/>
    <issue>1</issue>
    <volume>14</volume>
    <type>article</type>
    <publisherName>MDPI</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>1</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Towards Dynamic Human–Robot Collaboration: A Holistic Framework for Assembly Planning</title>
    <abstract language="eng">The combination of human cognitive skills and dexterity with the endurance and repeatability of robots is a promising approach to modern assembly. However, efficiently allocating tasks and planning an assembly sequence between humans and robots is a manual, complex, and time-consuming activity. This work presents a framework named “Extract–Enrich–Assess–Plan–Review” that facilitates holistic planning of human–robot assembly processes. The framework automatically Extracts data from heterogeneous sources, Assesses the suitability of each assembly step to be performed by the human or robot, and Plans multiple assembly sequence plans (ASP) according to boundary conditions. Those sequences allow for a dynamic adaptation at runtime and incorporate different human–robot interaction modalities that are Synchronized, Cooperative, or Collaborative. An expert remains in the loop to Enrich the extracted data, and Review the results of the Assess and Plan steps with options to modify the process. To experimentally validate this framework, we compare the achieved degree of automation using three different CAD formats. We also demonstrate and analyze multiple assembly sequence plans that are generated by our system according to process time and the interaction modalities used.</abstract>
    <parentTitle language="eng">Electronics</parentTitle>
    <identifier type="issn">2079-9292</identifier>
    <identifier type="doi">10.3390/electronics14010190</identifier>
    <identifier type="urn">urn:nbn:de:bvb:863-opus-57825</identifier>
    <enrichment key="opus_doi_flag">true</enrichment>
    <enrichment key="opus_import_data">{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,7]],"date-time":"2025-01-07T05:19:28Z","timestamp":1736227168382,"version":"3.32.0"},"reference-count":56,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2025,1,5]],"date-time":"2025-01-05T00:00:00Z","timestamp":1736035200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002745","name":"Bavarian Research Foundation","doi-asserted-by":"publisher","award":["AZ-1512-21"],"id":[{"id":"10.13039\/501100002745","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Electronics"],"abstract":"&lt;jats:p&gt;The combination of human cognitive skills and dexterity with the endurance and repeatability of robots is a promising approach to modern assembly. However, efficiently allocating tasks and planning an assembly sequence between humans and robots is a manual, complex, and time-consuming activity. This work presents a framework named \u201cExtract\u2013Enrich\u2013Assess\u2013Plan\u2013Review\u201d that facilitates holistic planning of human\u2013robot assembly processes. The framework automatically Extracts data from heterogeneous sources, Assesses the suitability of each assembly step to be performed by the human or robot, and Plans multiple assembly sequence plans (ASP) according to boundary conditions. Those sequences allow for a dynamic adaptation at runtime and incorporate different human\u2013robot interaction modalities that are Synchronized, Cooperative, or Collaborative. An expert remains in the loop to Enrich the extracted data, and Review the results of the Assess and Plan steps with options to modify the process. To experimentally validate this framework, we compare the achieved degree of automation using three different CAD formats. We also demonstrate and analyze multiple assembly sequence plans that are generated by our system according to process time and the interaction modalities used.&lt;\/jats:p&gt;","DOI":"10.3390\/electronics14010190","type":"journal-article","created":{"date-parts":[[2025,1,6]],"date-time":"2025-01-06T11:43:04Z","timestamp":1736163784000},"page":"190","source":"Crossref","is-referenced-by-count":0,"title":["Towards Dynamic Human\u2013Robot Collaboration: A Holistic Framework for Assembly Planning"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7032-8242","authenticated-orcid":false,"given":"Fabian","family":"Schirmer","sequence":"first","affiliation":[{"name":"Center for Robotics (CERI), Technical University of Applied Sciences W\u00fcrzburg-Schweinfurt, 97421 Schweinfurt, Germany"},{"name":"Department of Mechanical Engineering, Auburn University, Auburn, AL 36849, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1057-4273","authenticated-orcid":false,"given":"Philipp","family":"Kranz","sequence":"additional","affiliation":[{"name":"Center for Robotics (CERI), Technical University of Applied Sciences W\u00fcrzburg-Schweinfurt, 97421 Schweinfurt, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8616-393X","authenticated-orcid":false,"given":"Chad G.","family":"Rose","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Auburn University, Auburn, AL 36849, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4537-7680","authenticated-orcid":false,"given":"Jan","family":"Schmitt","sequence":"additional","affiliation":[{"name":"Institute Digital Engineering (IDEE), Technical University of Applied Sciences W\u00fcrzburg-Schweinfurt, 97421 Schweinfurt, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3017-5816","authenticated-orcid":false,"given":"Tobias","family":"Kaupp","sequence":"additional","affiliation":[{"name":"Center for Robotics (CERI), Technical University of Applied Sciences W\u00fcrzburg-Schweinfurt, 97421 Schweinfurt, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,5]]},"reference":[{"key":"ref_1","unstructured":"Di Battista, A., Grayling, S., Hasselaar, E., Leopold, T., Li, R., Rayner, M., and Zahidi, S. (2023). Future of Jobs Report 2023, World Economic Forum."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"914","DOI":"10.1111\/roiw.12664","article-title":"Insecurity on the Labor Market","volume":"70","author":"Clark","year":"2024","journal-title":"Rev. Income Wealth"},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Lotter, B., and Wiendahl, H.P. (2013). Montage in der Industriellen Produktion: Ein Handbuch f\u00fcr die Praxis, Springer.","DOI":"10.1007\/978-3-642-29061-9"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"1635","DOI":"10.1007\/s10845-018-1411-1","article-title":"Optimizing human\u2013robot task allocation using a simulation tool based on standardized work descriptions","volume":"31","author":"Kunz","year":"2020","journal-title":"J. Intell. Manuf."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"248","DOI":"10.1016\/j.mechatronics.2018.02.009","article-title":"Survey on human\u2013robot collaboration in industrial settings: Safety, intuitive interfaces and applications","volume":"55","author":"Villani","year":"2018","journal-title":"Mechatronics"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Wang, L., Liu, S., Liu, H., and Wang, X.V. Overview of human-robot collaboration in manufacturing. Proceedings of the 5th International Conference on the Industry 4.0 Model for Advanced Manufacturing: AMP 2020.","DOI":"10.1007\/978-3-030-46212-3_2"},{"key":"ref_7","unstructured":"Fechter, M. Entwicklung Einer Automatisierten Methode zur Grobplanung Hybrider Montagearbeitspl\u00e4tze. Approved dissertation Fraunhofer-Institut f\u00fcr Produktionstechnik und Automatisierung IPA, University of Stuttgart, Germany, 2022."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"182","DOI":"10.1016\/j.promfg.2017.04.011","article-title":"Capability-based task allocation in human-robot collaboration","volume":"9","author":"Ranz","year":"2017","journal-title":"Procedia Manuf."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"2725","DOI":"10.1007\/s00158-021-02953-9","article-title":"Integrating deep learning into CAD\/CAE system: Generative design and evaluation of 3D conceptual wheel","volume":"64","author":"Yoo","year":"2021","journal-title":"Struct. Multidiscip. Optim."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1109\/LRA.2016.2535907","article-title":"A hierarchical human-robot interaction-planning framework for task allocation in collaborative industrial assembly processes","volume":"2","author":"Johannsmeier","year":"2017","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Schmitt, J., Hillenbrand, A., Kranz, P., and Kaupp, T. (2021, January 1\u20138). Assisted human-robot-interaction for industrial assembly: Application of spatial augmented reality (sar) for collaborative assembly tasks. Proceedings of the Companion of the 2021 ACM\/IEEE International Conference on Human-Robot Interaction, Boulder, CO, USA.","DOI":"10.1145\/3434074.3447127"},{"key":"ref_12","first-page":"554","article-title":"Schnelle Ermittlung sinnvoller MRK-Anwendungen","volume":"113","author":"Bauer","year":"2018","journal-title":"Z. F\u00fcr Wirtsch. Fabr."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"4235","DOI":"10.1007\/s00170-022-09877-8","article-title":"Deep reinforcement learning applied to an assembly sequence planning problem with user preferences","volume":"122","author":"Neves","year":"2022","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"5233","DOI":"10.1007\/s00170-024-13004-0","article-title":"Robot autonomous grasping and assembly skill learning based on deep reinforcement learning","volume":"130","author":"Chen","year":"2024","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1007\/s11740-017-0732-9","article-title":"Cognition-enhanced assembly sequence planning for ergonomic and productive human\u2013robot collaboration in self-optimizing assembly cells","volume":"11","author":"Faber","year":"2017","journal-title":"Prod. Eng."},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Gu, P., and Yan, X. (1995). CAD-directed automatic assembly sequence planning. Int. J. Prod. Res., 33.","DOI":"10.1080\/00207549508904862"},{"key":"ref_17","first-page":"1237","article-title":"A system architecture for cad-based robotic assembly with sensor-based skills","volume":"17","author":"Pane","year":"2020","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"1465","DOI":"10.1007\/s00170-015-6855-2","article-title":"An interoperability CAD assembly sequence plan approach","volume":"79","author":"Trigui","year":"2015","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1016\/j.procir.2020.05.013","article-title":"Automatic generation of assembly graphs based on 3D models and assembly features","volume":"88","author":"Neb","year":"2020","journal-title":"Procedia CIRP"},{"key":"ref_20","unstructured":"International Organization for Standardization (ISO) (2025, January 04). Industrial Automation Systems and Integration \u2014Product Data Representation and Exchange \u2014 Part 242: Application Protocol: Managed Model-Based 3D Engineering 2020. Available online: https:\/\/www.iso.org\/standard\/84667.html."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Schirmer, F., Kranz, P., Rose, C.G., Schmitt, J., and Kaupp, T. (2023, January 5\u20138). Towards Automatic Extraction of Product and Process Data for Human-Robot Collaborative Assembly. Proceedings of the 21st International Conference on Advanced Robotics, Abu Dhabi, United Arab Emirates.","DOI":"10.1109\/ICAR58858.2023.10406471"},{"key":"ref_22","unstructured":"Schirmer, F., Srikanth, V.K., Kranz, P., Rose, C.G., Schmitt, J., and Kaupp, T. (2023, January 4\u20137). Holistic Assembly Planning Framework for Dynamic Human-Robot Collaboration. Proceedings of the 18th International Conference on Intelligent Autonomous Systems, Suwon, Republic of Korea."},{"key":"ref_23","unstructured":"Schmidbauer, C. Adaptive Task Sharing Between Humans and Cobots in Assembly Processes. Ph.D. Dissertation, TU Wien, Vienna, Austria, 2022."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1016\/j.cirp.2020.04.030","article-title":"Task scheduling method for HRC workplaces based on capabilities and execution time assumptions for robots","volume":"69","author":"Raatz","year":"2020","journal-title":"CIRP Ann."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1675","DOI":"10.1080\/0951192X.2023.2204467","article-title":"Review of task allocation for human-robot collaboration in assembly","volume":"36","author":"Petzoldt","year":"2023","journal-title":"Int. J. Comput. Integr. Manuf."},{"key":"ref_26","unstructured":"Beumelburg, K. F\u00e4higkeitsorientierte Montageablaufplanung in der Direkten Mensch-Roboter-Kooperation. Ph.D. Dissertation, Institut f\u00fcr Industrielle Fertigung und Fabrikbetrieb (IFF), University of Stuttgart, Stuttgart, Germany, 2005."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"76","DOI":"10.1016\/j.cirpj.2018.05.003","article-title":"A method for planning human robot shared tasks","volume":"22","author":"Michalos","year":"2018","journal-title":"CIRP J. Manuf. Sci. Technol."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1016\/j.procir.2017.03.318","article-title":"An integrated planning and programming system for human-robot-cooperation","volume":"63","author":"Berg","year":"2017","journal-title":"Procedia CIRP"},{"key":"ref_29","unstructured":"Schr\u00f6ter, D. (2018). Entwicklung Einer Methodik zur Planung von Arbeitssystemen in Mensch-Roboter-Kooperation, Fraunhofer Verlag."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"70","DOI":"10.1109\/TASE.2019.2932150","article-title":"Optimal scheduling of human\u2013robot collaborative assembly operations with time petri nets","volume":"18","author":"Casalino","year":"2021","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"93","DOI":"10.1007\/s40685-019-0101-y","article-title":"Balancing of assembly lines with collaborative robots","volume":"13","author":"Weckenborg","year":"2020","journal-title":"Bus. Res."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1016\/j.procir.2020.02.172","article-title":"Automation potential analysis of assembly processes based on 3D product assembly models in CAD systems","volume":"91","author":"Neb","year":"2020","journal-title":"Procedia CIRP"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/S0166-3615(00)00073-7","article-title":"Intelligent system for extraction of product data from CADD models","volume":"44","author":"Prabhu","year":"2001","journal-title":"Comput. Ind."},{"key":"ref_34","doi-asserted-by":"crossref","unstructured":"Zhang, H., and Li, X. (2014, January 22\u201327). Data extraction from DXF file and visual display. Proceedings of the HCI International 2014-Posters\u2019 Extended Abstracts: International Conference, HCI International 2014, Heraklion, Crete, Greece. Proceedings, Part I 16.","DOI":"10.1007\/978-3-319-07857-1_51"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1115\/1.1861473","article-title":"Determining interference between parts in CAD STEP files for automatic assembly planning","volume":"5","author":"Pan","year":"2005","journal-title":"J. Comput. Inf. Sci. Eng."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1115\/1.1644553","article-title":"Compliant assembly variation analysis using component geometric covariance","volume":"126","author":"Camelio","year":"2004","journal-title":"J. Manuf. Sci. Eng."},{"key":"ref_37","first-page":"2","article-title":"Handbuch industrial engineering","volume":"2","author":"Bokranz","year":"2012","journal-title":"Produkt. Mit MTM"},{"key":"ref_38","unstructured":"Karger, D.W., and Bayha, F.H. (1987). Engineered Work Measurement: The Principles, Techniques, and Data of Methods-Time Measurement Background and Foundations of Work Measurement and Methods-Time Measurement, Plus Other Related Material, Industrial Press Inc."},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"1284","DOI":"10.1016\/j.procir.2019.04.014","article-title":"Development of a sociotechnical planning system for human-robot interaction in assembly systems focusing on small and medium-sized enterprises","volume":"81","author":"Seckelmann","year":"2019","journal-title":"Procedia CIRP"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"1119","DOI":"10.1016\/j.procir.2021.11.188","article-title":"A comparison of and critical review on cycle time estimation methods for human-robot work systems","volume":"104","author":"Komenda","year":"2021","journal-title":"Procedia CIRP"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"011005","DOI":"10.1115\/1.4025809","article-title":"Manufacturing assembly time estimation using structural complexity metric trained artificial neural networks","volume":"14","author":"Miller","year":"2014","journal-title":"J. Comput. Inf. Sci. Eng."},{"key":"ref_42","first-page":"331","article-title":"Simulation-based time evaluation of basic manual assembly tasks","volume":"15","author":"Turk","year":"2020","journal-title":"Adv. Prod. Eng. Manag."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"102","DOI":"10.1115\/1.1354995","article-title":"Introduction to ISO 10303\u2014The STEP standard for product data exchange","volume":"1","author":"Pratt","year":"2001","journal-title":"J. Comput. Inf. Sci. Eng."},{"key":"ref_44","first-page":"V02BT03A018","article-title":"Semantic interoperability of GD&amp;T data through ISO 10303 STEP AP242","volume":"Volume 50114","author":"Venkiteswaran","year":"2016","journal-title":"Proceedings of the International Design Engineering Technical Conferences and Computers and Information in Engineering Conference"},{"key":"ref_45","unstructured":"Venkiteswaran, A. (2016). Interoperability of Geometric Dimension &amp; Tolerance Data between CAD Systems Through ISO STEP AP 242, Arizona State University."},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"1053","DOI":"10.1016\/j.cad.2013.04.002","article-title":"Relationship matrix based automatic assembly sequence generation from a CAD model","volume":"45","author":"Ou","year":"2013","journal-title":"Comput. Aided Des."},{"key":"ref_47","doi-asserted-by":"crossref","unstructured":"Halperin, D., Latombe, J.C., and Wilson, R.H. (1998, January 7\u201310). A general framework for assembly planning: The motion space approach. Proceedings of the Fourteenth Annual Symposium on Computational Geometry, Minneapolis, MN, USA.","DOI":"10.1145\/276884.276886"},{"key":"ref_48","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1016\/j.procir.2016.02.080","article-title":"Process-oriented task assignment for assembly processes with human-robot interaction","volume":"44","author":"Vette","year":"2016","journal-title":"Procedia CIRP"},{"key":"ref_49","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.cirp.2017.04.095","article-title":"Motion planning and scheduling for human and industrial-robot collaboration","volume":"66","author":"Pellegrinelli","year":"2017","journal-title":"CIRP Ann."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1108\/IR-11-2018-0231","article-title":"Complexity-based task allocation in human-robot collaborative assembly","volume":"46","author":"Malik","year":"2019","journal-title":"Ind. Robot. Int. J. Robot. Res. Appl."},{"key":"ref_51","doi-asserted-by":"crossref","first-page":"1355","DOI":"10.1007\/s00170-018-03247-z","article-title":"Collaborative and traditional robotic assembly: A comparison model","volume":"102","author":"Faccio","year":"2019","journal-title":"Int. J. Adv. Manuf. Technol."},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"669","DOI":"10.1017\/S026357471900095X","article-title":"A Unified Architecture for Physical and Ergonomic Human\u2013Robot Collaboration","volume":"38","author":"Ferraguti","year":"2020","journal-title":"Robotica"},{"key":"ref_53","doi-asserted-by":"crossref","first-page":"764","DOI":"10.1080\/01691864.2019.1636714","article-title":"Human\u2013robot interaction in industrial collaborative robotics: A literature review of the decade 2008\u20132017","volume":"33","author":"Hentout","year":"2019","journal-title":"Adv. Robot."},{"key":"ref_54","doi-asserted-by":"crossref","unstructured":"Heydaryan, S., Suaza Bedolla, J., and Belingardi, G. (2018). Safety design and development of a human-robot collaboration assembly process in the automotive industry. Appl. Sci., 8.","DOI":"10.3390\/app8030344"},{"key":"ref_55","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1016\/j.inffus.2019.11.001","article-title":"Multi-sensor fusion for body sensor network in medical human\u2013robot interaction scenario","volume":"57","author":"Lin","year":"2020","journal-title":"Inf. Fusion"},{"key":"ref_56","unstructured":"Schirmer, F., Kranz, P., Manjunath, M., Raja, J.J., Rose, C.G., Kaupp, T., and Daun, M. (2023, January 6\u20139). Towards a Conceptual Safety Planning Framework for Human-Robot Collaboration. Proceedings of the 42nd International Conference on Conceptual Modeling: ER Forum, 7th SCME, Project Exhibitions, Posters and Demos, and Doctoral Consortium, Lisbon, Portugal."}],"container-title":["Electronics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2079-9292\/14\/1\/190\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,6]],"date-time":"2025-01-06T12:53:42Z","timestamp":1736168022000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2079-9292\/14\/1\/190"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,5]]},"references-count":56,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2025,1]]}},"alternative-id":["electronics14010190"],"URL":"https:\/\/doi.org\/10.3390\/electronics14010190","relation":{},"ISSN":["2079-9292"],"issn-type":[{"value":"2079-9292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,5]]}}}</enrichment>
    <enrichment key="local_crossrefDocumentType">journal-article</enrichment>
    <enrichment key="local_crossrefLicence">https://creativecommons.org/licenses/by/4.0/</enrichment>
    <enrichment key="local_import_origin">crossref</enrichment>
    <enrichment key="local_doiImportPopulated">PersonAuthorFirstName_1,PersonAuthorLastName_1,PersonAuthorIdentifierOrcid_1,PersonAuthorFirstName_2,PersonAuthorLastName_2,PersonAuthorIdentifierOrcid_2,PersonAuthorFirstName_3,PersonAuthorLastName_3,PersonAuthorIdentifierOrcid_3,PersonAuthorFirstName_4,PersonAuthorLastName_4,PersonAuthorIdentifierOrcid_4,PersonAuthorFirstName_5,PersonAuthorLastName_5,PersonAuthorIdentifierOrcid_5,PublisherName,TitleMain_1,Language,TitleAbstract_1,TitleParent_1,ArticleNumber,Issue,Volume,CompletedYear,IdentifierIssn,Enrichmentlocal_crossrefLicence</enrichment>
    <enrichment key="opus.source">doi-import</enrichment>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <licence>Creative Commons - CC BY - Namensnennung 4.0 International</licence>
    <author>Fabian Schirmer</author>
    <author>Philipp Kranz</author>
    <author>Chad G. Rose</author>
    <author>Jan Schmitt</author>
    <author>Tobias Kaupp</author>
    <collection role="oa-colour" number="">Gefördert (Gold)</collection>
    <collection role="institutes" number="ceri">Center Robotik (CERI)</collection>
    <file>https://opus4.kobv.de/opus4-fhws/files/5782/Schirmer_Dynamic_human_robot_collaboration.pdf</file>
  </doc>
</export-example>
