Natural Intelligence for Robotic Monitoring of Habitats

Livrables

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

Auteurs: Cenceschi, Lorenzo, Franco Angelini, Cosimo Della Santina and Antonio Bicchi
Publié dans: 2021 European Control Conference (ECC), Numéro 3-Jan-22, 2022, ISBN 978-9-4638-4236-5
Éditeur: IEEE
DOI: 10.23919/ecc54610.2021.9655196

Controllability For Underactuated Compliant Arms

Auteurs: Pierallini, Michele; Angelini, Franco; Garabini, Manolo
Publié dans: 2022 I-RIM 3D, Numéro 11-Oct-21, 2021
Éditeur: Third Italian Conference on Robotics and Intelligent Machines
DOI: 10.5281/zenodo.6367959

Learning-based Localizability Estimation for Robust LiDAR Localization

Auteurs: Nubert, Julian; Walther, Etienne; Khattak, Shehryar Masaud Khan; Hutter, Marco
Publié dans: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro 10, 2022
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/iros47612.2022.9982257

Planning Natural Locomotion for Articulated Soft Quadrupeds

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

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

Auteurs: Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco
Publié dans: IEEE International Conference on Robotics and Automation (ICRA), Numéro 13, 2022
Éditeur: 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

Auteurs: Della Santina, Cosimo, Dominic Lakatos, Antonio Bicchi, and Alin Albu-Schaeffer
Publié dans: 2021 60th IEEE Conference on Decision and Control (CDC), Numéro 17-Dec-21, 2021
Éditeur: IEEE
DOI: 10.1109/cdc45484.2021.9683228

Iterative Learning in Functional Space for Non-Square Linear Systems

Auteurs: Della Santina, Cosimo, and Franco Angelini
Publié dans: 2021 60th IEEE Conference on Decision and Control (CDC), Numéro 17-Dec-21, 2021
Éditeur: IEEE
DOI: 10.1109/cdc45484.2021.9683673

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

Auteurs: Angelini, Franco; Mengacci, Riccardo; Pierallini, Michele; Della Santina, Cosimo; Catalano, Manuel Giuseppe; Grioli, Giorgio; Garabini, Manolo; Bicchi, Antonio
Publié dans: 2021 I-RIM 3D, Numéro 10-Oct-21, 2021
Éditeur: 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

Auteurs: Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Publié dans: 2023 IEEE International Conference on Robotics and Automation (ICRA), Numéro 14, 2023
Éditeur: Institute of Electrical and Electronic Engineers
DOI: 10.1109/icra48891.2023.10160582

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

Auteurs: Wellhausen, Lorenz; id_orcid0000-0001-5148-754X; Hutter, Marco; id_orcid0000-0002-4285-4990
Publié dans: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numéro 14, 2021, ISSN 2153-0866
Éditeur: 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

Auteurs: Bonacchi, Luigi Bono, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, and Cosimo Della Santina
Publié dans: IEEE Robotics and Automation Letters, Numéro 23-Feb-21, 2021, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3061345

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

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

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

Auteurs: Riccardo Mengacci; Grazia Zambella; Giorgio Grioli; Danilo Caporale; Manuel G. Catalano; Antonio Bicchi; Antonio Bicchi
Publié dans: Frontiers in Robotics and AI, Numéro 11 August 2021, 2021, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2021.713083

Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control

Auteurs: Pierallini, Michele, Franco Angelini, Antonio Bicchi, and Manolo Garabini
Publié dans: IEEE Robotics and Automation Letters, Numéro 25-Jan-22, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3144786

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

Auteurs: Jiatao Ding; Vassil Atanassov; Edoardo Panichi; Jens Kober; Cosimo Della Santina
Publié dans: IEEE Transactions on Robotics, Numéro 10 June 2024, 2024, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3411988

Model and Control of R-Soft Inverted Pendulum

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

A method to benchmark the balance resilience of robots

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

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Auteurs: Xin, Guiyang, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, and Michael Mistry
Publié dans: IEEE Robotics and Automation Letters, Numéro 24-Mar-21, 2021, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3068695

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

Auteurs: Della Santina, Cosimo, Davide Calzolari, Alessandro Massimo Giordano, and Alin Albu-Schäffer
Publié dans: IEEE Robotics and Automation Letters, Numéro 23-Feb-21, 2021, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2021.3061391

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

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

Iterative Learning Control for Compliant Underactuated Arms

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

Damping in Compliant Actuation: A Review

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

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

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

Robotic Monitoring of Habitats: The Natural Intelligence Approach

Auteurs: 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
Publié dans: IEEE Access, Numéro 11 July 2023, 2023, Page(s) 72575 - 72591, ISSN 2169-3536
Éditeur: 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

Auteurs: Helmut Hauser; Thrishantha Nanayakkara; Fulvio Forni
Publié dans: IEEE Control Systems Magazine, Numéro 25 May 2023, 2023, Page(s) 114 - 129, ISSN 1066-033X
Éditeur: 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

Auteurs: Pierallini, Michele, Franco Angelini, Riccardo Mengacci, Alessandro Palleschi, Antonio Bicchi, and Manolo Garabini
Publié dans: IEEE Access, Numéro 29-Oct-21, 2021, ISSN 2169-3536
Éditeur: 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)

Auteurs: Leopoldo de Simone, Emanuele Fanfarillo, Simona Maccherini, Tiberio Fiaschi, Giuseppe Alfonso, Franco Angelini, Manolo Garabini, Claudia Angiolini
Publié dans: Ecological Indicators, Numéro 18 March 2024, 2024, ISSN 1872-7034
Éditeur: Elsevier Ltd.
DOI: 10.1016/j.ecolind.2024.111882

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

Auteurs: Thomas Godden; Barry W. Mulvey; Ellen Redgrave; Thrishantha Nanayakkara
Publié dans: IEEE Robotics and Automation Letters, Numéro 16 April 2024, 2024, Page(s) 5512 - 5519, ISSN 2377-3766
Éditeur: 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

Auteurs: Alessandro Palleschi; Franco Angelini; Chiara Gabellieri; Do Won Park; Lucia Pallottino; Antonio Bicchi; Manolo Garabini
Publié dans: IEEE Transactions on Robotics, Numéro 30 June 2023, 2023, Page(s) 4016 - 4036, ISSN 1552-3098
Éditeur: 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

Auteurs: Adriana Torres-Pardo, David Pinto-Fernández, Manolo Garabini, Franco Angelini, David Rodriguez-Cianca, Stefano Massardi, Jesús Tornero, Juan C Moreno and Diego Torricelli
Publié dans: Bioinspiration & Biomimetics, Numéro 13 October 2022, 2022, ISSN 1748-3190
Éditeur: 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

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

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

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

Adaptive Feet for Quadrupedal Walkers

Auteurs: Catalano, Manuel Giuseppe, Mathew Jose Pollayil, Giorgio Grioli, Giorgio Valsecchi, Hendrik Kolvenbach, Marco Hutter, Antonio Bicchi, and Manolo Garabini
Publié dans: IEEE Transactions on Robotics, Numéro 8-Jul-21, 2021, ISSN 1941-0468
Éditeur: IEEE
DOI: 10.1109/tro.2021.3088060

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

Auteurs: Giulia Pagnanelli; Michele Pierallini; Franco Angelini; Antonio Bicchi
Publié dans: IEEE Control Systems Letters, Numéro 24 May 2024, 2024, Page(s) 922 - 927, ISSN 2475-1456
Éditeur: 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)

Auteurs: Franco Angelini, Mathew J. Pollayil, Federica Bonini, Daniela Gigante & Manolo Garabini
Publié dans: Scientific Data, Numéro 27 June 2023, 2023, Page(s) 418, ISSN 2052-4463
Éditeur: Springer Nature Limited
DOI: 10.1038/s41597-023-02312-x

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

Auteurs: Bjelonic, Filip, Arne Sachtler, Alin Albu-Schäffer, and Cosimo Della Santina
Publié dans: IEEE Robotics and Automation Letters, Numéro 7-Jan-22, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3141156

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

Auteurs: Franco Angelini, Mathew J. Pollayil, Giovanni Rivieccio, Maria Carmela Caria, Simonetta Bagella & Manolo Garabini
Publié dans: Scientific Data, Numéro 24 February 2024, 2024, Page(s) 238, ISSN 2052-4463
Éditeur: 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)

Auteurs: Mathew J. Pollayil, Franco Angelini, Leopoldo de Simone, Emanuele Fanfarillo, Tiberio Fiaschi, Simona Maccherini, Claudia Angiolini & Manolo Garabini
Publié dans: Scientific Data, Numéro 01 December 2023, 2023, Page(s) 845, ISSN 2052-4463
Éditeur: 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.

Auteurs: Yu, Zhenhua, Shehara Perera, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Publié dans: IEEE Robotics and Automation Letters, Numéro 27-Jan-22, 2022, ISSN 2377-3766
Éditeur: 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.

Auteurs: Yu, Zhenhua, SM Hadi Sadati, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Publié dans: IEEE Robotics and Automation Letters, Numéro 16-Mar-22, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3159859

Choosing Stiffness and Damping for Optimal Impedance Planning

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

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems

Auteurs: Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter
Publié dans: IEEE Transactions on Robotics, 38 (6), Numéro 12, 2022, ISSN 1552-3098
Éditeur: 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

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

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

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

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

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

Optimal Control for Articulated Soft Robots

Auteurs: Saroj Prasad Chhatoi; Michele Pierallini; Franco Angelini; Carlos Mastalli; Manolo Garabini
Publié dans: IEEE Transactions on Robotics, Numéro 18, 2023, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3288837

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