Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration

Project Information

An.Dy

Grant agreement ID: 731540

DOI 10.3030/731540

Project closed

EC signature date 4 November 2016

Start date 1 January 2017

End date 31 August 2021

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 3 950 025,00

EU contribution € 3 950 025,00

Coordinated by

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

Deliverables

Demonstrators, pilots, prototypes (4)

Scenario 1 report and updates - 1

This deliverable is a scientific paper or report and updates on the ANDY achievements in the first validation scenario which concerns human-cobot physical collaboration.

Scenario 3 report and updates - 1

This deliverable is a scientific paper or report and updates on the ANDY achievements in the third validation scenario which concerns human-humanoid physical collaboration.

Scenario 3 report and updates - 2

This deliverable is a scientific paper or report and updates on the ANDY achievements in the third validation scenario which concerns humanhumanoid physical collaboration

Scenario 1 report and updates - 2

This deliverable is a scientific paper or report and updates on the ANDY achievements in the first validation scenario which concerns humancobot physical collaboration

Documents, reports (17)

ANDYDATASET publication

This deliverable is about the release of the ANDYDATASET, a dataset of human motions and force captured movements. The deliverable will also include a scientific paper associated to the dataset to be submitted to relevant publications. The ANDYDATASET at this stage will mainly contain those whole-body interactive and collaborative motions that are relevant to the prosecution of the project. It will contain human-human collaborative tasks (e.g. assisted walking, collaborative assembly) and relevant human movements (e.g. walking, drilling, overhead working). Precise details of the ANDYDATASET will be defined in T2.1. Possibly, the ANDYDATASET will contain data from the end-users advisory board members which might not be public according to what will be defined in the Data Management Plan (see D7.1).

Predictive control

This deliverable is a scientific report or paper about the theoretical foundation of controlling collaboration when anticipation of partner related quantities is necessary to complete the collaborative task

ANDYMODEL: advanced classification & predictive models - 1

This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET using deep gated neural networks T34 capable of 1 autonoumous feature extraction 2 simultaneously performing classification and regression 3 virtual sensing ie predicting sensor values which are available offline during training but not online during execution

ANDYMODEL: advanced classification & predictive models - 2

This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET using deep gated neural networks T34 capable of 1 autonoumous feature extraction 2 simultaneously performing classification and regression 3 virtual sensing ie predicting sensor values which are available offline during training but not online during execution

Switching control

This deliverable is a scientific report or paper about the theoretical foundation of switching control

Ergonomic control

This deliverable is a scientific report or paper about the theoretical foundation of ergonomic control.

Dissemination periodic reports - 3

Dissemination periodic reports M18 M36 M48

Reactive control

This deliverable is a scientific report or paper about the theoretical foundation of partner-aware reactive control.

ANDYSUIT & updates - 3

This is either a scientific paper or report about the first prototype of the suit At month 12 force and motion estimations will be based on wearable motion tracking system 155 with wearable force platforms 156 145 At month 24 estimations will be based on sensor fusion techniques on accelerometers gyroscopes magnetometers force and torque sensors At month 36 estimation will include EMG as well as tactile sensing 95 integrated in the footsoles and if necessary at other possible contact points eg hands

Dissemination periodic reports - 1

Dissemination periodic reports (M18, M36, M48).

ANDYDATASET specification

This deliverable concerns the ANDYDATASET specifications as defined in T2.1. It will consists of a technical report containing specifications such as: adopted standards for sensor positioning (e.g. motion capture markers), sensor modalities, acquired biometric data, considered interactive and collaborative motions.

Dissemination periodic reports - 2

Dissemination periodic reports M18 M36 M48

ANDYMODEL: ergonomic models

This deliverable is mainly related to T3.2 and it is a scientific report or paper on ergonomic models for real-time ergonomic assessment. Models will be suitable for: controlling robot behavior for ergonomically optimal collaborative conditions; providing alerts to the human operator, whenever certain risk limits are being exceeded.

Specifications for the ANDYSUIT

This deliverable is about the release of a tentative data-sheet describing the quantitative specifications of the ANDYSUIT (i.e. desiderata). Specifications will primarily consider the goals to be achieved in the following stages (see in particular WP4 and WP5). This deliverable will also contain a compendium with specifications from the end-users advisory board.

ANDYMODEL: baseline classification & regression models - 1

This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET, using machine learning algorithms such as SVM, HMM, GPR and LWPR. These models will be capable of: (1) classifying human motion based on measurements from the ANDYSUIT (T3.3); (2) predict future quantities (e.g. joint torques, body motion) based on current available measurements (T3.3).

ANDYSUIT & updates - 2

This is either a scientific paper or report about the first prototype of the suit At month 12 force and motion estimations will be based on wearable motion tracking system 155 with wearable force platforms 156 145 At month 24 estimations will be based on sensor fusion techniques on accelerometers gyroscopes magnetometers force and torque sensors At month 36 estimation will include EMG as well as tactile sensing 95 integrated in the footsoles and if necessary at other possible contact points eg hands

ANDYSUIT & updates - 1

This is either a scientific paper or report about the first prototype of the suit. At month 12, force and motion estimations will be based on wearable motion tracking system [155] with wearable force platforms [156, 145]. At month 24, estimations will be based on sensor fusion techniques on accelerometers, gyroscopes, magnetometers, force and torque sensors. At month 36, estimation will include EMG, as well as tactile sensing [95] integrated in the foot-soles and, if necessary, at other possible contact points (e.g. hands).

Open Research Data Pilot (3)

Data management plan - 2

The plan for the management of data with specific focus on the ANDYDATASET Data Management Plan M6 and updates M25 M40

Data management plan - 1

The plan for the management of data, with specific focus on the ANDYDATASET. Data Management Plan (M6) and updates (M25, M40).

Data management plan - 3

The plan for the management of data with specific focus on the ANDYDATASET Data Management Plan M6 and updates M25 M40

Websites, patent fillings, videos etc. (1)

Website and software repository online

Publication of the ANDY website with feeds from relevant social networks.

Publications

Conference proceedings (31)

Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations

Author(s): Nori, Francesco
Published in: Issue 2, 2017
Publisher: IEEE

Black-Box Data-efficient Policy Search for Robotics

Author(s): Chatzilygeroudis, Konstantinos; Rama, Roberto; Kaushik, Rituraj; Goepp, Dorian; Vassiliades, Vassilis; Mouret, Jean-Baptiste
Published in: https://hal.inria.fr/hal-01576683, Issue 1, 2017
Publisher: IEEE

Anticipatory models of human movements and dynamics: the roadmap of the AnDy project

Author(s): Ivaldi, Serena; Fritzsche, Lars; Babič, Jan; Stulp, Freek; Damsgaard, Michael; Graimann, Bernhard; Bellusci, Giovanni; Nori, Francesco
Published in: Digital Human Models (DHM), Jun 2017, Bonn, Germany. 2017, Issue 1, 2017
Publisher: Digital Human Models

Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control

Author(s): Spitz, Jonathan; Bouyarmane, Karim; Ivaldi, Serena; Mouret, Jean-Baptiste
Published in: https://hal.archives-ouvertes.fr/hal-01569948, Issue 3, 2017
Publisher: IEEE

Adaptive Whole-Body Manipulation in Human-to-Humanoid Multi-Contact Motion Retargeting

Author(s): Otani, Kazuya; Bouyarmane, Karim
Published in: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), Issue 1, 2017
Publisher: IEEE

Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller

Author(s): Otani, Kazuya; Bouyarmane, Karim; Ivaldi, Serena
Published in: Proceedings of International Conference on Robotics and Automation, Issue 1, 2018
Publisher: IEEE

Multi-modal intention prediction with Probabilistic Movement Primitives

Author(s): Dermy, O.; Charpillet, F.; Ivaldi, S.
Published in: Proc. 10th International Workshop on Human-Friendly Robotics (HFR 2017), 2017
Publisher: Springer STAR

Humanoid Control for Co-Manipulations Tasks with Whole-body Human Dynamics Reconstruction

Author(s): K. Otani, K. Bouyarmane, S. Ivaldi
Published in: "Workshop ""Human-humanoid collaboration"" in HUMANOIDS 2017", 2017
Publisher: N/A

Safe trajectory optimization for whole-body motion of humanoids

Author(s): Modugno, V.; Nava, G.; Pucci, D.; Nori, F.; Oriolo, G.; Ivaldi, S.
Published in: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Publisher: IEEE

Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control

Author(s): Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B.
Published in: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Publisher: IEEE

Towards ergonomie control of human-robot co-manipulation and handover

Author(s): Luka Peternel, Wansoo Kim, Jan Babic, Arash Ajoudani
Published in: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Page(s) 55-60, ISBN 978-1-5386-4678-6
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2017.8239537

Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton

Author(s): Miha Dežman, Jan Babič, Andrej Gams
Published in: 2018, Page(s) 778-786
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-61276-8_82

Natural Myocontrol in a Realistic Setting: a Comparison Between Static and Dynamic Data Acquisition

Author(s): Andrea Gigli, Arjan Gijsberts, Claudio Castellini
Published in: 2019 IEEE/RAS-EMBS 16th International Conference on Rehabilitation Robotics, 2019
Publisher: IEEE

Optimizing Contextual Ergonomics Models in Human-Robot Interaction

Author(s): Antonio Gonzales Marin, Mohammad S. Shourijeh, Pavel E. Galibarov, Michael Damsgaard, Lars Fritzsch, Freek Stulp
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 1-9, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8594132

Multi-modal Intention Prediction with Probabilistic Movement Primitives

Author(s): Dermy O., Charpillet F., Ivaldi S.
Published in: Human Friendly Robotics. Springer Proceedings in Advanced Robotics, Issue Vol 7, 2019, Page(s) P 181-196
Publisher: Springer

Robust real-time whole-body motion retargeting from human to humanoid

Author(s): Penco, L.; Clement, B.; Modugno, V.; Mingo Hoffman, E.M.; Nava, G.; Pucci, D.; Tsagarakis, N.G.; Mouret, J.-B.; Ivaldi, S.
Published in: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Publisher: IEEE

Learning robust task priorities of QP-based whole-body torque controllers

Author(s): Charbonneau, M.; Modugno, V.; Nori, F.; Oriolo, G.; Pucci, D.; Ivaldi, S.
Published in: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Publisher: IEEE

Prediction of Human Whole-Body Movements with AE-ProMPs

Author(s): Dermy, O.; Chaveroche, M.; Colas, F.; Charpillet, F.; Ivaldi, S.
Published in: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS 2018), 2018
Publisher: IEEE

Ethical and Social Considerations for the introduction of Human-Centered Technologies at Work

Author(s): Maurice, P.; Allienne, L.; Malaise, A.; Ivaldi, S.
Published in: IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018
Publisher: IEEE

Objective and Subjective Effects of Passive Exoskeleton on Overhead Work

Author(s): Maurice, P.; Camernik, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J.
Published in: 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, 2018
Publisher: Oral Presentation

Online Activity Recognition for Automatic Ergonomics Assessment

Author(s): Malaisé, A.; Maurice, P.; Colas F.; Ivaldi S.
Published in: 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Publisher: INRS

Activity recognition with multiple wearable sensors for industrial applications

Author(s): Malaisé, A.; Maurice, P.; Colas, F.; Charpillet, F.; Ivaldi, S.
Published in: Proc. 11th Int. Conf. on Advances in Computer-Human Interactions (ACHI), 2018
Publisher: IARIA XPS Press

Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller

Author(s): Otani, K.; Bouyarmane, K.; Ivaldi, S.
Published in: Proc. IEEE/RAS Int. Conf. Robotics and Automation (ICRA), 2018
Publisher: IEEE

Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project

Author(s): Maurice, P.; Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Pucci, D.; Nori, F.
Published in: 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Publisher: N/A

Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers

Author(s): Marie Charbonneau, Valerio Modugno, Francesco Nori, Giuseppe Oriolo, Daniele Pucci, Serena Ivaldi
Published in: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 1-9, ISBN 978-1-5386-7283-9
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2018.8624995

Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation

Author(s): Claudia Latella, Luca Tagliapietra, Diego Ferigo, Yeshasvi Tirupachuri, Francesco Nori, Daniele Pucci
Published in: 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018, Page(s) 21-22, ISBN 978-1-5386-8037-7
Publisher: IEEE
DOI: 10.1109/arso.2018.8625806

Whole-Body Compliant Control of iCub: first results with OpenSoT

Author(s): Hoffman , Enrico ,; Clément , Brice; Zhou , Chengxu; Tsagarakis , Nikos ,; Mouret , Jean-Baptiste; Ivaldi , Serena
Published in: ICRA 2018 - International Conference on Robotics and Automation, Issue 3, 2018
Publisher: IEEE

Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics

Author(s): Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Published in: ICRA 2018 - International Conference on Robotics and Automation, Issue 3, 2018
Publisher: IEEE

Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search

Author(s): Pautrat, Rémi; Chatzilygeroudis, Konstantinos; Mouret, Jean-Baptiste
Published in: ICRA 2018 - International Conference on Robotics and Automation, Issue 4, 2018
Publisher: IEEE

Qualitative assessment of a clutch-actuated ankle exoskeleton

Author(s): Dežman, Miha; Babič, Jan; Gams, Andrej
Published in: Advances in service and industrial robotics : proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, [21-23 June 2017, Torino, Italy], Issue 1, 2017, Page(s) pp. 720-737, 2017
Publisher: Springer

Trajectory Advancement during Human-Robot Collaboration

Author(s): Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
Published in: IEEE RO-MAN 2019, 2019
Publisher: arXiv.org

Peer reviewed articles (17)

Velocity-Curvature Patterns Limit Human–Robot Physical Interaction

Author(s): Pauline Maurice, Meghan E. Huber, Neville Hogan, Dagmar Sternad
Published in: IEEE Robotics and Automation Letters, Issue 3/1, 2018, Page(s) 249-256, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2017.2737048

Prediction of Intention during Interaction with iCub with Probabilistic Movement Primitives

Author(s): Oriane Dermy, Alexandros Paraschos, Marco Ewerton, Jan Peters, François Charpillet, Serena Ivaldi
Published in: Frontiers in Robotics and AI, Issue 4, 2017, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2017.00045

Progress and Prospects of the Human-Robot Collaboration

Author(s): Ajoudani, Arash; Zanchettin, Andrea,; Ivaldi, Serena; Albu-Schäffer, Alin; Kosuge, Kazuhiro; Khatib, Oussama
Published in: Autonomous Robots, Issue 1, 2017, ISSN 0929-5593
Publisher: Kluwer Academic Publishers

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction

Author(s): Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael Mistry, Vincent Padois, Francesco Nori
Published in: IEEE Robotics and Automation Letters, Issue 3/1, 2018, Page(s) 516-523, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2017.2768126

Co-manipulation with a library of virtual guiding fixtures

Author(s): Gennaro Raiola, Susana Sanchez Restrepo, Pauline Chevalier, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, Freek Stulp
Published in: Autonomous Robots, Issue 42/5, 2018, Page(s) 1037-1051, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9680-7

Policy search in continuous action domains: An overview

Author(s): Olivier Sigaud, Freek Stulp
Published in: Neural Networks, Issue 113, 2019, Page(s) 28-40, ISSN 0893-6080
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.neunet.2019.01.011

Activity Recognition for Ergonomics Assessment of Industrial Tasks With Automatic Feature Selection

Author(s): Adrien Malaise, Pauline Maurice, Francis Colas, Serena Ivaldi
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 1132-1139, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2894389

Intelligent Human-Robot Collaboration with Prediction and Anticipation

Author(s): Ivaldi, S
Published in: ERCIM NEWS - Special theme: Human-Robot, Issue Vol 114, 2018, Page(s) Pages 9-11, ISSN 0926-4981
Publisher: ERCIM EEIG

Human-Robot Interaction - Introduction to the Special Theme

Author(s): Ivaldi, S.; M. Pateraki
Published in: ERCIM NEWS - Special theme: Human-Robot, Issue Vol 114, 2018, Page(s) P 6-7, ISSN 0926-4981
Publisher: ERCIM EEIG

Progress and Prospects of the Human-Robot Collaboration

Author(s): Ajoudani, A.; Zanchettin, A.M.; Ivaldi, S.; Albu-Schaeffer, A.; Kosuge, K.; Khatib, O.
Published in: Autonomous Robots, Issue Vol 42, 2018, Page(s) P 957-975, ISSN 1573-7527
Publisher: Springer Verlag

Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques

Author(s): Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
Published in: Sensors, Issue 19/12, 2019, Page(s) 2794, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19122794

Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms

Author(s): Claudia Latella, Marta Lorenzini, Maria Lazzaroni, Francesco Romano, Silvio Traversaro, M. Ali Akhras, Daniele Pucci, Francesco Nori
Published in: Autonomous Robots, Issue 43/6, 2019, Page(s) 1591-1603, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-018-9808-4

Limbo: A Flexible High-performance Library for Gaussian Processes modeling and Data-Efficient Optimization

Author(s): Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, Jean-Baptiste Mouret
Published in: Journal of Open Source Software, Issue 3/26, 2018, Page(s) 545, ISSN 2475-9066
Publisher: N/A
DOI: 10.21105/joss.00545

Predictability, force, and (anti)resonance in complex object control

Author(s): Pauline Maurice, Neville Hogan, Dagmar Sternad
Published in: Journal of Neurophysiology, Issue 120/2, 2018, Page(s) 765-780, ISSN 0022-3077
Publisher: American Physiological Society
DOI: 10.1152/jn.00918.2017

Assessing and improving human movements using sensitivity analysis and digital human simulation

Author(s): Maurice, Pauline; Padois, Vincent; Measson, Yvan; Bidaud, Philippe
Published in: International Journal of Computer Integrated Manufacturing, Issue 2, 2019, ISSN 1362-3052
Publisher: TAYLOR & FRANCIS ONLINE

Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition

Author(s): Franz Steinmetz, Verena Nitsch, Freek Stulp
Published in: IEEE Robotics and Automation Letters, Issue 4, 2019, Page(s) 1-1, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2928782

Assessing the efficiency of exoskeletons in physical strain reduction by biomechanical simulation with AnyBody Modeling System

Author(s): Lars Fritzsche, Pavel E. Galibarov, Christian Gärtner, Jonas Bornmann, Michael Damsgaard, Rudolf Wall, Benjamin Schirrmeister, Jose Gonzalez-Vargas, Daniele Pucci, Pauline Maurice, Serena Ivaldi, Jan Babič
Published in: Wearable Technologies, Issue 2, 2021, Page(s) 16, ISSN 2631-7176
Publisher: Cambridge University Press
DOI: 10.1017/wtc.2021.5

Other (10)

A survey on policy search algorithms for learning robot controllers in a handful of trials

Author(s): Chatzilygeroudis, Konstantinos; Vassiliades, Vassilis; Stulp, Freek; Calinon, Sylvain; Mouret, Jean-Baptiste
Published in: arXiv.org e-Print Archive, Issue 25, 2018
Publisher: arXiv

A Variational Time Series Feature Extractor for Action Prediction

Author(s): Chaveroche, M.; Malaisé, A.; Colas, F.; Charpillet, F.; Ivaldi, S.
Published in: arXiv:1807.02350 [cs.LG], 2018
Publisher: Cornell University

A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot

Author(s): Dafarra, Stefano; Romano, Francesco; Nori, Francesco
Published in: http://arxiv.org/abs/1705.10638, 2017
Publisher: http://arxiv.org/abs/1705.10638

Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

Author(s): Chavez, Francisco Javier Andrade; Nava, Gabriele; Traversaro, Silvio; Nori, Francesco; Pucci, Daniele
Published in: http://arxiv.org/abs/1812.00650, 2018
Publisher: http://arxiv.org/abs/1812.00650

Towards Partner-Aware Humanoid Robot Control Under Physical Interactions

Author(s): Tirupachuri, Yeshasvi; Nava, Gabriele; Latella, Claudia; Ferigo, Diego; Rapetti, Lorenzo; Tagliapietra, Luca; Nori, Francesco; Pucci, Daniele
Published in: http://arxiv.org/abs/1809.06165, 2019
Publisher: http://arxiv.org/abs/1809.06165

Telexistence and Teleoperation for Walking Humanoid Robots

Author(s): Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babic, Jan; Pucci, Daniele
Published in: http://arxiv.org/abs/1809.01578, 2019
Publisher: http://arxiv.org/abs/1809.01578

A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping

Author(s): Dafarra, Stefano; Romano, Francesco; Nava, Gabriele; Nori, Francesco
Published in: http://arxiv.org/abs/1705.10635, Issue 15, 2017
Publisher: http://arxiv.org/abs/1705.10635

A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

Author(s): Dafarra, Stefano; Nava, Gabriele; Charbonneau, Marie; Guedelha, Nuno; Andrade, Francisco; Traversaro, Silvio; Fiorio, Luca; Romano, Francesco; Nori, Francesco; Metta, Giorgio; Pucci, Daniele
Published in: arxiv.org/abs/1807.05395, 2018
Publisher: arxiv.org/abs/1807.05395

Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards

Author(s): Kaushik , Rituraj; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Published in: CoRL 2018 - Conference on Robot Learning, Oct 2018, Zurich, Switzerland, Issue 3, 2018
Publisher: N/A

Assesing and improving human movements using sensitivity analysis and digital human simulation

Author(s): MAURICE, P. PADOIS, V. MEASSON, Y BIDAUD, P.
Published in: World Congress of Biomechanics, 2018
Publisher: N/A

Book chapters (1)

Public Simulation Software

Author(s): Ugurlu, B.; Ivaldi, S.
Published in: Humanoid Robotics: A Reference – Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, Issue VOL 35, 2018
Publisher: SPRINGER