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CORDIS

Natural Intelligence for Robotic Monitoring of Habitats

Deliverables

Data Management Plan

A plan for the data management will be made available

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

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

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

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

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 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

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

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

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

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

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

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