Natural Intelligence for Robotic Monitoring of Habitats

Deliverables

Data Management Plan

A plan for the data management will be made available

Simulation model for the hip and robot body

A simulation model of the robot hip will be delivered made available the partners.

Simulation Model for compliant joint knee

A simulation model of the compliant joint knee will be made available among the partners.

Simulation Model for reservoir computing in the mountain goat hoof

A simulation model of the mountain goat hoof will be made available among the partners.

Dynamic digital twins of use cases, robots, and testbeds

Tools and models to simulate the use case scenarios, robots and testbed will be delivered.

Benchmarking Framework

A detailed description of the different key system abilities, testbed requirements, experimental protocols, and PIs.

Project Website, social profiles and templates of communication material

The website of the project will be developed and published Project social Facebook Twitter LinkedIn Instagram accounts will be created to attract followers and to disseminate the project results The template for communicating the project material will be designed and distributed among the partners

Publications

PIσ - PIσ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree

Author(s): Cenceschi, Lorenzo, Franco Angelini, Cosimo Della Santina and Antonio Bicchi
Published in: 2021 European Control Conference (ECC), Issue 3-Jan-22, 2022, ISBN 978-9-4638-4236-5
Publisher: IEEE
DOI: 10.23919/ecc54610.2021.9655196

Controllability For Underactuated Compliant Arms

Author(s): Pierallini, Michele; Angelini, Franco; Garabini, Manolo
Published in: 2022 I-RIM 3D, Issue 11-Oct-21, 2021
Publisher: Third Italian Conference on Robotics and Intelligent Machines
DOI: 10.5281/zenodo.6367959

Learning-based Localizability Estimation for Robust LiDAR Localization

Author(s): Nubert, Julian; Walther, Etienne; Khattak, Shehryar Masaud Khan; Hutter, Marco
Published in: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 10, 2022
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/iros47612.2022.9982257

Planning Natural Locomotion for Articulated Soft Quadrupeds

Author(s): Pollayil, Mathew Jose, Cosimo Della Santina, George Mesesan, Johannes Englsberger, Daniel Seidel, Manolo Garabini, Christian Ott, Antonio Bicchi, and Alin Albu-Schaffer
Published in: 2022 International Conference on Robotics and Automation (ICRA), Issue 12-Jul-22, 2022
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9812416

Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots

Author(s): Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco
Published in: IEEE International Conference on Robotics and Automation (ICRA), Issue 13, 2022
Publisher: Institute of Electrical and Electronic Engineers
DOI: 10.1109/icra46639.2022.9812386

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Author(s): Della Santina, Cosimo, Dominic Lakatos, Antonio Bicchi, and Alin Albu-Schaeffer
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), Issue 17-Dec-21, 2021
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683228

Iterative Learning in Functional Space for Non-Square Linear Systems

Author(s): Della Santina, Cosimo, and Franco Angelini
Published in: 2021 60th IEEE Conference on Decision and Control (CDC), Issue 17-Dec-21, 2021
Publisher: IEEE
DOI: 10.1109/cdc45484.2021.9683673

Trajectory Tracking for Articulated Soft Robots: an Iterative Learning Control Approach

Author(s): Angelini, Franco; Mengacci, Riccardo; Pierallini, Michele; Della Santina, Cosimo; Catalano, Manuel Giuseppe; Grioli, Giorgio; Garabini, Manolo; Bicchi, Antonio
Published in: 2021 I-RIM 3D, Issue 10-Oct-21, 2021
Publisher: Third Italian Conference on Robotics and Intelligent Machines
DOI: 10.5281/zenodo.6367958

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators

Author(s): Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Published in: 2023 IEEE International Conference on Robotics and Automation (ICRA), Issue 14, 2023
Publisher: Institute of Electrical and Electronic Engineers
DOI: 10.1109/icra48891.2023.10160582

Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning

Author(s): Wellhausen, Lorenz; id_orcid0000-0001-5148-754X; Hutter, Marco; id_orcid0000-0002-4285-4990
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 14, 2021, ISSN 2153-0866
Publisher: Institute of Electrical and Electronic Engineers
DOI: 10.1109/iros51168.2021.9636358

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case

Author(s): Bonacchi, Luigi Bono, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, and Cosimo Della Santina
Published in: IEEE Robotics and Automation Letters, Issue 23-Feb-21, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061345

Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning

Author(s): Maximilian Stolzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter
Published in: VOLUME=7;ISSUE=2;ISSN=2377-3766;TITLE=IEEE Robotics and Automation Letters, Issue 8, 2022, ISSN 2377-3766
Publisher: Institute of Electrical and Electronic Engineers
DOI: 10.1109/lra.2022.3141662

An Open-Source ROS-Gazebo Toolbox for Simulating Robots With Compliant Actuators

Author(s): Riccardo Mengacci; Grazia Zambella; Giorgio Grioli; Danilo Caporale; Manuel G. Catalano; Antonio Bicchi; Antonio Bicchi
Published in: Frontiers in Robotics and AI, Issue 11 August 2021, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.713083

Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control

Author(s): Pierallini, Michele, Franco Angelini, Antonio Bicchi, and Manolo Garabini
Published in: IEEE Robotics and Automation Letters, Issue 25-Jan-22, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3144786

Robust Quadrupedal Jumping with Impact-Aware Landing: Exploiting Parallel Elasticity

Author(s): Jiatao Ding; Vassil Atanassov; Edoardo Panichi; Jens Kober; Cosimo Della Santina
Published in: IEEE Transactions on Robotics, Issue 10 June 2024, 2024, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3411988

Model and Control of R-Soft Inverted Pendulum

Author(s): Daniele Caradonna; Michele Pierallini; Cosimo Della Santina; Franco Angelini; Antonio Bicchi
Published in: IEEE Robotics and Automation Letters, Issue 16 April 2024, 2024, Page(s) 5102 - 5109, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2024.3389348

A method to benchmark the balance resilience of robots

Author(s): Monteleone S, Negrello F, Grioli G, Catalano MG, Bicchi A and Garabini M
Published in: Frontiers in Robotics and AI, Issue 20 January 2023, 2022, Page(s) -, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2022.817870

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Author(s): Xin, Guiyang, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, and Michael Mistry
Published in: IEEE Robotics and Automation Letters, Issue 24-Mar-21, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068695

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Author(s): Pierallini, Michele and Stella, Francesco and Angelini, Franco and Deutschmann, Bastian and Hughes, Josie and Bicchi, Antonio and Garabini, Manolo and Della Santina, Cosimo
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: Institute of Electrical and Electronic Engineers
DOI: 10.1109/lra.2023.3307007

Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions

Author(s): Della Santina, Cosimo, Davide Calzolari, Alessandro Massimo Giordano, and Alin Albu-Schäffer
Published in: IEEE Robotics and Automation Letters, Issue 23-Feb-21, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061391

DeforMoBot: A Bio-Inspired Deformable Mobile Robot for Navigation Among Obstacles

Author(s): Barry William Mulvey; Thilina Dulantha Lalitharatne; Thrishantha Nanayakkara
Published in: IEEE Robotics and Automation Letters, Issue 05 May 2023, 2023, Page(s) 3828 - 3835, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3273393

Iterative Learning Control for Compliant Underactuated Arms

Author(s): Michele Pierallini; Franco Angelini; Riccardo Mengacci; Alessandro Palleschi; Antonio Bicchi; Manolo Garabini
Published in: EEE Transactions on Systems, Man, and Cybernetics: Systems, Issue 23 January 2023, 2023, Page(s) 3810 - 3822, ISSN 2168-2216
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tsmc.2023.3234403

Damping in Compliant Actuation: A Review

Author(s): Simone Monteleone; Francesca Negrello; Manuel G. Catalano; Manolo Garabini; Giorgio Grioli
Published in: IEEE Robotics & Automation Magazine, Issue 25 January 2022, 2022, Page(s) 47 - 66, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3138388

Quadrupedal Locomotion With Parallel Compliance: E-Go Design, Modeling, and Control

Author(s): Jiatao Ding; Perry Posthoorn; Vassil Atanassov; Fabio Boekel; Jens Kober; Cosimo Della Santina
Published in: IEEE/ASME Transactions on Mechatronics, Issue 05 June 2024, 2024, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2024.3402321

Robotic Monitoring of Habitats: The Natural Intelligence Approach

Author(s): Angelini, Franco; Angelini, Pierangela; Angiolini, Claudia; Bagella, Simonetta; Bonomo, Fabio; Caccianiga, Marco; Della Santina, Cosimo; Gigante, Daniela; Hutter, Marco; Nanayakkara, Thrishantha; Remagnino, Paolo; Torricelli, Diego; Garabini, Manolo
Published in: IEEE Access, Issue 11 July 2023, 2023, Page(s) 72575 - 72591, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3294276

Leveraging Morphological Computation for Controlling Soft Robots: Learning from Nature to Control Soft Robots

Author(s): Helmut Hauser; Thrishantha Nanayakkara; Fulvio Forni
Published in: IEEE Control Systems Magazine, Issue 25 May 2023, 2023, Page(s) 114 - 129, ISSN 1066-033X
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/mcs.2023.3253422

A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances

Author(s): Pierallini, Michele, Franco Angelini, Riccardo Mengacci, Alessandro Palleschi, Antonio Bicchi, and Manolo Garabini
Published in: IEEE Access, Issue 29-Oct-21, 2021, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3124014

One small step for a robot, one giant leap for habitat monitoring: A structural survey of EU forest habitats with Robotically-mounted Mobile Laser Scanning (RMLS)

Author(s): Leopoldo de Simone, Emanuele Fanfarillo, Simona Maccherini, Tiberio Fiaschi, Giuseppe Alfonso, Franco Angelini, Manolo Garabini, Claudia Angiolini
Published in: Ecological Indicators, Issue 18 March 2024, 2024, ISSN 1872-7034
Publisher: Elsevier Ltd.
DOI: 10.1016/j.ecolind.2024.111882

PaTS-Wheel: A Passively-Transformable Single-Part Wheel for Mobile Robot Navigation on Unstructured Terrain

Author(s): Thomas Godden; Barry W. Mulvey; Ellen Redgrave; Thrishantha Nanayakkara
Published in: IEEE Robotics and Automation Letters, Issue 16 April 2024, 2024, Page(s) 5512 - 5519, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2024.3389828

Grasp It Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects

Author(s): Alessandro Palleschi; Franco Angelini; Chiara Gabellieri; Do Won Park; Lucia Pallottino; Antonio Bicchi; Manolo Garabini
Published in: IEEE Transactions on Robotics, Issue 30 June 2023, 2023, Page(s) 4016 - 4036, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3286115

Legged locomotion over irregular terrains: state of the art of human and robot performance

Author(s): Adriana Torres-Pardo, David Pinto-Fernández, Manolo Garabini, Franco Angelini, David Rodriguez-Cianca, Stefano Massardi, Jesús Tornero, Juan C Moreno and Diego Torricelli
Published in: Bioinspiration & Biomimetics, Issue 13 October 2022, 2022, ISSN 1748-3190
Publisher: IOP Publishing Ltd
DOI: 10.1088/1748-3190/ac92b3

Robotic monitoring of Alpine screes: a dataset from the EU Natura2000 habitat 8110 in the Italian Alps

Author(s): Franco Angelini, Mathew J. Pollayil, Barbara Valle, Marina Serena Borgatti, Marco Caccianiga & Manolo Garabini
Published in: Scientific Data, Issue 01 December 2023, 2023, Page(s) 855, ISSN 2052-4463
Publisher: Springer Nature Limited
DOI: 10.1038/s41597-023-02764-1

Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment

Author(s): Alok Ranjan; Franco Angelini; Thrishantha Nanayakkara; Manolo Garabini
Published in: IEEE/ASME Transactions on Mechatronics, Issue 03 November 2023, 2024, Page(s) 843 - 855, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2023.3326602

Adaptive Feet for Quadrupedal Walkers

Author(s): Catalano, Manuel Giuseppe, Mathew Jose Pollayil, Giorgio Grioli, Giorgio Valsecchi, Hendrik Kolvenbach, Marco Hutter, Antonio Bicchi, and Manolo Garabini
Published in: IEEE Transactions on Robotics, Issue 8-Jul-21, 2021, ISSN 1941-0468
Publisher: IEEE
DOI: 10.1109/tro.2021.3088060

Assessing an Energy-Based Control for the Soft Inverted Pendulum in Hamiltonian Form

Author(s): Giulia Pagnanelli; Michele Pierallini; Franco Angelini; Antonio Bicchi
Published in: IEEE Control Systems Letters, Issue 24 May 2024, 2024, Page(s) 922 - 927, ISSN 2475-1456
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lcsys.2024.3405410

Robotic monitoring of grasslands: a dataset from the EU Natura2000 habitat 6210* in the central Apennines (Italy)

Author(s): Franco Angelini, Mathew J. Pollayil, Federica Bonini, Daniela Gigante & Manolo Garabini
Published in: Scientific Data, Issue 27 June 2023, 2023, Page(s) 418, ISSN 2052-4463
Publisher: Springer Nature Limited
DOI: 10.1038/s41597-023-02312-x

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

Author(s): Bjelonic, Filip, Arne Sachtler, Alin Albu-Schäffer, and Cosimo Della Santina
Published in: IEEE Robotics and Automation Letters, Issue 7-Jan-22, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3141156

Robotic monitoring of dunes: a dataset from the EU habitats 2110 and 2120 in Sardinia (Italy)

Author(s): Franco Angelini, Mathew J. Pollayil, Giovanni Rivieccio, Maria Carmela Caria, Simonetta Bagella & Manolo Garabini
Published in: Scientific Data, Issue 24 February 2024, 2024, Page(s) 238, ISSN 2052-4463
Publisher: Springer Nature Limited
DOI: 10.1038/s41597-024-03063-z

Robotic monitoring of forests: a dataset from the EU habitat 9210* in the Tuscan Apennines (central Italy)

Author(s): Mathew J. Pollayil, Franco Angelini, Leopoldo de Simone, Emanuele Fanfarillo, Tiberio Fiaschi, Simona Maccherini, Claudia Angiolini & Manolo Garabini
Published in: Scientific Data, Issue 01 December 2023, 2023, Page(s) 845, ISSN 2052-4463
Publisher: Springer Nature Limited
DOI: 10.1038/s41597-023-02763-2

A Tapered Whisker-Based Physical Reservoir Computing System for Mobile Robot Terrain Identification in Unstructured Environments.

Author(s): Yu, Zhenhua, Shehara Perera, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Published in: IEEE Robotics and Automation Letters, Issue 27-Jan-22, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3146602

A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness Estimation.

Author(s): Yu, Zhenhua, SM Hadi Sadati, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Published in: IEEE Robotics and Automation Letters, Issue 16-Mar-22, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3159859

Choosing Stiffness and Damping for Optimal Impedance Planning

Author(s): Mathew Jose Pollayil; Franco Angelini; Guiyang Xin; Michael Mistry; Sethu Vijayakumar; Antonio Bicchi; Manolo Garabini
Published in: IEEE Transactions on Robotics, Issue 15 November 2022, 2022, Page(s) 1281 - 1300, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3216078

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems

Author(s): Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter
Published in: IEEE Transactions on Robotics, 38 (6), Issue 12, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3186804

Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning

Author(s): Jiatao Ding; Mees A. van Löben Sels; Franco Angelini; Jens Kober; Cosimo Della Santina
Published in: IEEE Robotics and Automation Letters, Issue 08 November 2023, 2024, Page(s) 255 - 262, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3331288

EM-Act: A Modular Series Elastic Actuator for Dynamic Robots

Author(s): Ramesh krishnan Muttathil Gopanunni; Lorenzo Martignetti; Francesco Iotti; Alok Ranjan; Franco Angelini; Manolo Garabini
Published in: IEEE Open Journal of the Industrial Electronics Society, Issue 13 May 2024, 2024, Page(s) 468 - 480, ISSN 2644-1284
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/ojies.2024.3400052

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

Author(s): Alexandra Velasco Vivas; Antonello Cherubini; Manolo Garabini; Paolo Salaris; Antonio Bicchi
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, Issue 07 April 2023, 2023, Page(s) 5006 - 5018, ISSN 2168-2216
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tsmc.2023.3260644

Optimal Control for Articulated Soft Robots

Author(s): Saroj Prasad Chhatoi; Michele Pierallini; Franco Angelini; Carlos Mastalli; Manolo Garabini
Published in: IEEE Transactions on Robotics, Issue 18, 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3288837

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