Natural Intelligence for Robotic Monitoring of Habitats

Resultado final

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

Publicaciones

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

Autores: Cenceschi, Lorenzo, Franco Angelini, Cosimo Della Santina and Antonio Bicchi
Publicado en: 2021 European Control Conference (ECC), Edición 3-Jan-22, 2022, ISBN 978-9-4638-4236-5
Editor: IEEE
DOI: 10.23919/ecc54610.2021.9655196

Controllability For Underactuated Compliant Arms

Autores: Pierallini, Michele; Angelini, Franco; Garabini, Manolo
Publicado en: 2022 I-RIM 3D, Edición 11-Oct-21, 2021
Editor: Third Italian Conference on Robotics and Intelligent Machines
DOI: 10.5281/zenodo.6367959

Learning-based Localizability Estimation for Robust LiDAR Localization

Autores: Nubert, Julian; Walther, Etienne; Khattak, Shehryar Masaud Khan; Hutter, Marco
Publicado en: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 10, 2022
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/iros47612.2022.9982257

Planning Natural Locomotion for Articulated Soft Quadrupeds

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

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

Autores: Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), Edición 13, 2022
Editor: 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

Autores: Della Santina, Cosimo, Dominic Lakatos, Antonio Bicchi, and Alin Albu-Schaeffer
Publicado en: 2021 60th IEEE Conference on Decision and Control (CDC), Edición 17-Dec-21, 2021
Editor: IEEE
DOI: 10.1109/cdc45484.2021.9683228

Iterative Learning in Functional Space for Non-Square Linear Systems

Autores: Della Santina, Cosimo, and Franco Angelini
Publicado en: 2021 60th IEEE Conference on Decision and Control (CDC), Edición 17-Dec-21, 2021
Editor: IEEE
DOI: 10.1109/cdc45484.2021.9683673

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

Autores: Angelini, Franco; Mengacci, Riccardo; Pierallini, Michele; Della Santina, Cosimo; Catalano, Manuel Giuseppe; Grioli, Giorgio; Garabini, Manolo; Bicchi, Antonio
Publicado en: 2021 I-RIM 3D, Edición 10-Oct-21, 2021
Editor: 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

Autores: Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Publicado en: 2023 IEEE International Conference on Robotics and Automation (ICRA), Edición 14, 2023
Editor: Institute of Electrical and Electronic Engineers
DOI: 10.1109/icra48891.2023.10160582

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

Autores: Wellhausen, Lorenz; id_orcid0000-0001-5148-754X; Hutter, Marco; id_orcid0000-0002-4285-4990
Publicado en: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 14, 2021, ISSN 2153-0866
Editor: 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

Autores: Bonacchi, Luigi Bono, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, and Cosimo Della Santina
Publicado en: IEEE Robotics and Automation Letters, Edición 23-Feb-21, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3061345

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

Autores: Maximilian Stolzle; Takahiro Miki; Levin Gerdes; Martin Azkarate; Marco Hutter
Publicado en: VOLUME=7;ISSUE=2;ISSN=2377-3766;TITLE=IEEE Robotics and Automation Letters, Edición 8, 2022, ISSN 2377-3766
Editor: Institute of Electrical and Electronic Engineers
DOI: 10.1109/lra.2022.3141662

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

Autores: Riccardo Mengacci; Grazia Zambella; Giorgio Grioli; Danilo Caporale; Manuel G. Catalano; Antonio Bicchi; Antonio Bicchi
Publicado en: Frontiers in Robotics and AI, Edición 11 August 2021, 2021, ISSN 2296-9144
Editor: Frontiers
DOI: 10.3389/frobt.2021.713083

Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control

Autores: Pierallini, Michele, Franco Angelini, Antonio Bicchi, and Manolo Garabini
Publicado en: IEEE Robotics and Automation Letters, Edición 25-Jan-22, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3144786

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

Autores: Jiatao Ding; Vassil Atanassov; Edoardo Panichi; Jens Kober; Cosimo Della Santina
Publicado en: IEEE Transactions on Robotics, Edición 10 June 2024, 2024, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3411988

Model and Control of R-Soft Inverted Pendulum

Autores: Daniele Caradonna; Michele Pierallini; Cosimo Della Santina; Franco Angelini; Antonio Bicchi
Publicado en: IEEE Robotics and Automation Letters, Edición 16 April 2024, 2024, Página(s) 5102 - 5109, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2024.3389348

A method to benchmark the balance resilience of robots

Autores: Monteleone S, Negrello F, Grioli G, Catalano MG, Bicchi A and Garabini M
Publicado en: Frontiers in Robotics and AI, Edición 20 January 2023, 2022, Página(s) -, ISSN 2296-9144
Editor: Frontiers
DOI: 10.3389/frobt.2022.817870

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Autores: Xin, Guiyang, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, and Michael Mistry
Publicado en: IEEE Robotics and Automation Letters, Edición 24-Mar-21, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3068695

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

Autores: Della Santina, Cosimo, Davide Calzolari, Alessandro Massimo Giordano, and Alin Albu-Schäffer
Publicado en: IEEE Robotics and Automation Letters, Edición 23-Feb-21, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3061391

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

Autores: Barry William Mulvey; Thilina Dulantha Lalitharatne; Thrishantha Nanayakkara
Publicado en: IEEE Robotics and Automation Letters, Edición 05 May 2023, 2023, Página(s) 3828 - 3835, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3273393

Iterative Learning Control for Compliant Underactuated Arms

Autores: Michele Pierallini; Franco Angelini; Riccardo Mengacci; Alessandro Palleschi; Antonio Bicchi; Manolo Garabini
Publicado en: EEE Transactions on Systems, Man, and Cybernetics: Systems, Edición 23 January 2023, 2023, Página(s) 3810 - 3822, ISSN 2168-2216
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tsmc.2023.3234403

Damping in Compliant Actuation: A Review

Autores: Simone Monteleone; Francesca Negrello; Manuel G. Catalano; Manolo Garabini; Giorgio Grioli
Publicado en: IEEE Robotics & Automation Magazine, Edición 25 January 2022, 2022, Página(s) 47 - 66, ISSN 1070-9932
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3138388

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

Autores: Jiatao Ding; Perry Posthoorn; Vassil Atanassov; Fabio Boekel; Jens Kober; Cosimo Della Santina
Publicado en: IEEE/ASME Transactions on Mechatronics, Edición 05 June 2024, 2024, ISSN 1083-4435
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2024.3402321

Robotic Monitoring of Habitats: The Natural Intelligence Approach

Autores: 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
Publicado en: IEEE Access, Edición 11 July 2023, 2023, Página(s) 72575 - 72591, ISSN 2169-3536
Editor: 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

Autores: Helmut Hauser; Thrishantha Nanayakkara; Fulvio Forni
Publicado en: IEEE Control Systems Magazine, Edición 25 May 2023, 2023, Página(s) 114 - 129, ISSN 1066-033X
Editor: 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

Autores: Pierallini, Michele, Franco Angelini, Riccardo Mengacci, Alessandro Palleschi, Antonio Bicchi, and Manolo Garabini
Publicado en: IEEE Access, Edición 29-Oct-21, 2021, ISSN 2169-3536
Editor: 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)

Autores: Leopoldo de Simone, Emanuele Fanfarillo, Simona Maccherini, Tiberio Fiaschi, Giuseppe Alfonso, Franco Angelini, Manolo Garabini, Claudia Angiolini
Publicado en: Ecological Indicators, Edición 18 March 2024, 2024, ISSN 1872-7034
Editor: Elsevier Ltd.
DOI: 10.1016/j.ecolind.2024.111882

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

Autores: Thomas Godden; Barry W. Mulvey; Ellen Redgrave; Thrishantha Nanayakkara
Publicado en: IEEE Robotics and Automation Letters, Edición 16 April 2024, 2024, Página(s) 5512 - 5519, ISSN 2377-3766
Editor: 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

Autores: Alessandro Palleschi; Franco Angelini; Chiara Gabellieri; Do Won Park; Lucia Pallottino; Antonio Bicchi; Manolo Garabini
Publicado en: IEEE Transactions on Robotics, Edición 30 June 2023, 2023, Página(s) 4016 - 4036, ISSN 1552-3098
Editor: 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

Autores: Adriana Torres-Pardo, David Pinto-Fernández, Manolo Garabini, Franco Angelini, David Rodriguez-Cianca, Stefano Massardi, Jesús Tornero, Juan C Moreno and Diego Torricelli
Publicado en: Bioinspiration & Biomimetics, Edición 13 October 2022, 2022, ISSN 1748-3190
Editor: 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

Autores: Franco Angelini, Mathew J. Pollayil, Barbara Valle, Marina Serena Borgatti, Marco Caccianiga & Manolo Garabini
Publicado en: Scientific Data, Edición 01 December 2023, 2023, Página(s) 855, ISSN 2052-4463
Editor: Springer Nature Limited
DOI: 10.1038/s41597-023-02764-1

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

Autores: Alok Ranjan; Franco Angelini; Thrishantha Nanayakkara; Manolo Garabini
Publicado en: IEEE/ASME Transactions on Mechatronics, Edición 03 November 2023, 2024, Página(s) 843 - 855, ISSN 1083-4435
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2023.3326602

Adaptive Feet for Quadrupedal Walkers

Autores: Catalano, Manuel Giuseppe, Mathew Jose Pollayil, Giorgio Grioli, Giorgio Valsecchi, Hendrik Kolvenbach, Marco Hutter, Antonio Bicchi, and Manolo Garabini
Publicado en: IEEE Transactions on Robotics, Edición 8-Jul-21, 2021, ISSN 1941-0468
Editor: IEEE
DOI: 10.1109/tro.2021.3088060

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

Autores: Giulia Pagnanelli; Michele Pierallini; Franco Angelini; Antonio Bicchi
Publicado en: IEEE Control Systems Letters, Edición 24 May 2024, 2024, Página(s) 922 - 927, ISSN 2475-1456
Editor: 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)

Autores: Franco Angelini, Mathew J. Pollayil, Federica Bonini, Daniela Gigante & Manolo Garabini
Publicado en: Scientific Data, Edición 27 June 2023, 2023, Página(s) 418, ISSN 2052-4463
Editor: Springer Nature Limited
DOI: 10.1038/s41597-023-02312-x

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

Autores: Bjelonic, Filip, Arne Sachtler, Alin Albu-Schäffer, and Cosimo Della Santina
Publicado en: IEEE Robotics and Automation Letters, Edición 7-Jan-22, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3141156

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

Autores: Franco Angelini, Mathew J. Pollayil, Giovanni Rivieccio, Maria Carmela Caria, Simonetta Bagella & Manolo Garabini
Publicado en: Scientific Data, Edición 24 February 2024, 2024, Página(s) 238, ISSN 2052-4463
Editor: 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)

Autores: Mathew J. Pollayil, Franco Angelini, Leopoldo de Simone, Emanuele Fanfarillo, Tiberio Fiaschi, Simona Maccherini, Claudia Angiolini & Manolo Garabini
Publicado en: Scientific Data, Edición 01 December 2023, 2023, Página(s) 845, ISSN 2052-4463
Editor: 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.

Autores: Yu, Zhenhua, Shehara Perera, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Publicado en: IEEE Robotics and Automation Letters, Edición 27-Jan-22, 2022, ISSN 2377-3766
Editor: 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.

Autores: Yu, Zhenhua, SM Hadi Sadati, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Publicado en: IEEE Robotics and Automation Letters, Edición 16-Mar-22, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3159859

Choosing Stiffness and Damping for Optimal Impedance Planning

Autores: Mathew Jose Pollayil; Franco Angelini; Guiyang Xin; Michael Mistry; Sethu Vijayakumar; Antonio Bicchi; Manolo Garabini
Publicado en: IEEE Transactions on Robotics, Edición 15 November 2022, 2022, Página(s) 1281 - 1300, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3216078

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems

Autores: Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter
Publicado en: IEEE Transactions on Robotics, 38 (6), Edición 12, 2022, ISSN 1552-3098
Editor: 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

Autores: Jiatao Ding; Mees A. van Löben Sels; Franco Angelini; Jens Kober; Cosimo Della Santina
Publicado en: IEEE Robotics and Automation Letters, Edición 08 November 2023, 2024, Página(s) 255 - 262, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3331288

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

Autores: Ramesh krishnan Muttathil Gopanunni; Lorenzo Martignetti; Francesco Iotti; Alok Ranjan; Franco Angelini; Manolo Garabini
Publicado en: IEEE Open Journal of the Industrial Electronics Society, Edición 13 May 2024, 2024, Página(s) 468 - 480, ISSN 2644-1284
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/ojies.2024.3400052

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

Autores: Alexandra Velasco Vivas; Antonello Cherubini; Manolo Garabini; Paolo Salaris; Antonio Bicchi
Publicado en: IEEE Transactions on Systems, Man, and Cybernetics: Systems, Edición 07 April 2023, 2023, Página(s) 5006 - 5018, ISSN 2168-2216
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tsmc.2023.3260644

Optimal Control for Articulated Soft Robots

Autores: Saroj Prasad Chhatoi; Michele Pierallini; Franco Angelini; Carlos Mastalli; Manolo Garabini
Publicado en: IEEE Transactions on Robotics, Edición 18, 2023, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3288837

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