Natural Intelligence for Robotic Monitoring of Habitats

Rezultaty

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

Publikacje

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

Autorzy: Cenceschi, Lorenzo, Franco Angelini, Cosimo Della Santina and Antonio Bicchi
Opublikowane w: 2021 European Control Conference (ECC), Numer 3-Jan-22, 2022, ISBN 978-9-4638-4236-5
Wydawca: IEEE
DOI: 10.23919/ecc54610.2021.9655196

Controllability For Underactuated Compliant Arms

Autorzy: Pierallini, Michele; Angelini, Franco; Garabini, Manolo
Opublikowane w: 2022 I-RIM 3D, Numer 11-Oct-21, 2021
Wydawca: Third Italian Conference on Robotics and Intelligent Machines
DOI: 10.5281/zenodo.6367959

Learning-based Localizability Estimation for Robust LiDAR Localization

Autorzy: Nubert, Julian; Walther, Etienne; Khattak, Shehryar Masaud Khan; Hutter, Marco
Opublikowane w: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numer 10, 2022
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/iros47612.2022.9982257

Planning Natural Locomotion for Articulated Soft Quadrupeds

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

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

Autorzy: Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco
Opublikowane w: IEEE International Conference on Robotics and Automation (ICRA), Numer 13, 2022
Wydawca: 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

Autorzy: Della Santina, Cosimo, Dominic Lakatos, Antonio Bicchi, and Alin Albu-Schaeffer
Opublikowane w: 2021 60th IEEE Conference on Decision and Control (CDC), Numer 17-Dec-21, 2021
Wydawca: IEEE
DOI: 10.1109/cdc45484.2021.9683228

Iterative Learning in Functional Space for Non-Square Linear Systems

Autorzy: Della Santina, Cosimo, and Franco Angelini
Opublikowane w: 2021 60th IEEE Conference on Decision and Control (CDC), Numer 17-Dec-21, 2021
Wydawca: IEEE
DOI: 10.1109/cdc45484.2021.9683673

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

Autorzy: Angelini, Franco; Mengacci, Riccardo; Pierallini, Michele; Della Santina, Cosimo; Catalano, Manuel Giuseppe; Grioli, Giorgio; Garabini, Manolo; Bicchi, Antonio
Opublikowane w: 2021 I-RIM 3D, Numer 10-Oct-21, 2021
Wydawca: 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

Autorzy: Ma, Yuntao; Farshidian, Farbod; Hutter, Marco
Opublikowane w: 2023 IEEE International Conference on Robotics and Automation (ICRA), Numer 14, 2023
Wydawca: Institute of Electrical and Electronic Engineers
DOI: 10.1109/icra48891.2023.10160582

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

Autorzy: Wellhausen, Lorenz; id_orcid0000-0001-5148-754X; Hutter, Marco; id_orcid0000-0002-4285-4990
Opublikowane w: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numer 14, 2021, ISSN 2153-0866
Wydawca: 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

Autorzy: Bonacchi, Luigi Bono, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, and Cosimo Della Santina
Opublikowane w: IEEE Robotics and Automation Letters, Numer 23-Feb-21, 2021, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2021.3061345

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

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

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

Autorzy: Riccardo Mengacci; Grazia Zambella; Giorgio Grioli; Danilo Caporale; Manuel G. Catalano; Antonio Bicchi; Antonio Bicchi
Opublikowane w: Frontiers in Robotics and AI, Numer 11 August 2021, 2021, ISSN 2296-9144
Wydawca: Frontiers
DOI: 10.3389/frobt.2021.713083

Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control

Autorzy: Pierallini, Michele, Franco Angelini, Antonio Bicchi, and Manolo Garabini
Opublikowane w: IEEE Robotics and Automation Letters, Numer 25-Jan-22, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3144786

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

Autorzy: Jiatao Ding; Vassil Atanassov; Edoardo Panichi; Jens Kober; Cosimo Della Santina
Opublikowane w: IEEE Transactions on Robotics, Numer 10 June 2024, 2024, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3411988

Model and Control of R-Soft Inverted Pendulum

Autorzy: Daniele Caradonna; Michele Pierallini; Cosimo Della Santina; Franco Angelini; Antonio Bicchi
Opublikowane w: IEEE Robotics and Automation Letters, Numer 16 April 2024, 2024, Strona(/y) 5102 - 5109, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2024.3389348

A method to benchmark the balance resilience of robots

Autorzy: Monteleone S, Negrello F, Grioli G, Catalano MG, Bicchi A and Garabini M
Opublikowane w: Frontiers in Robotics and AI, Numer 20 January 2023, 2022, Strona(/y) -, ISSN 2296-9144
Wydawca: Frontiers
DOI: 10.3389/frobt.2022.817870

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Autorzy: Xin, Guiyang, Songyan Xin, Oguzhan Cebe, Mathew Jose Pollayil, Franco Angelini, Manolo Garabini, Sethu Vijayakumar, and Michael Mistry
Opublikowane w: IEEE Robotics and Automation Letters, Numer 24-Mar-21, 2021, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2021.3068695

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

Autorzy: Della Santina, Cosimo, Davide Calzolari, Alessandro Massimo Giordano, and Alin Albu-Schäffer
Opublikowane w: IEEE Robotics and Automation Letters, Numer 23-Feb-21, 2021, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2021.3061391

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

Autorzy: Barry William Mulvey; Thilina Dulantha Lalitharatne; Thrishantha Nanayakkara
Opublikowane w: IEEE Robotics and Automation Letters, Numer 05 May 2023, 2023, Strona(/y) 3828 - 3835, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3273393

Iterative Learning Control for Compliant Underactuated Arms

Autorzy: Michele Pierallini; Franco Angelini; Riccardo Mengacci; Alessandro Palleschi; Antonio Bicchi; Manolo Garabini
Opublikowane w: EEE Transactions on Systems, Man, and Cybernetics: Systems, Numer 23 January 2023, 2023, Strona(/y) 3810 - 3822, ISSN 2168-2216
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tsmc.2023.3234403

Damping in Compliant Actuation: A Review

Autorzy: Simone Monteleone; Francesca Negrello; Manuel G. Catalano; Manolo Garabini; Giorgio Grioli
Opublikowane w: IEEE Robotics & Automation Magazine, Numer 25 January 2022, 2022, Strona(/y) 47 - 66, ISSN 1070-9932
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3138388

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

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

Robotic Monitoring of Habitats: The Natural Intelligence Approach

Autorzy: 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
Opublikowane w: IEEE Access, Numer 11 July 2023, 2023, Strona(/y) 72575 - 72591, ISSN 2169-3536
Wydawca: 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

Autorzy: Helmut Hauser; Thrishantha Nanayakkara; Fulvio Forni
Opublikowane w: IEEE Control Systems Magazine, Numer 25 May 2023, 2023, Strona(/y) 114 - 129, ISSN 1066-033X
Wydawca: 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

Autorzy: Pierallini, Michele, Franco Angelini, Riccardo Mengacci, Alessandro Palleschi, Antonio Bicchi, and Manolo Garabini
Opublikowane w: IEEE Access, Numer 29-Oct-21, 2021, ISSN 2169-3536
Wydawca: 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)

Autorzy: Leopoldo de Simone, Emanuele Fanfarillo, Simona Maccherini, Tiberio Fiaschi, Giuseppe Alfonso, Franco Angelini, Manolo Garabini, Claudia Angiolini
Opublikowane w: Ecological Indicators, Numer 18 March 2024, 2024, ISSN 1872-7034
Wydawca: Elsevier Ltd.
DOI: 10.1016/j.ecolind.2024.111882

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

Autorzy: Thomas Godden; Barry W. Mulvey; Ellen Redgrave; Thrishantha Nanayakkara
Opublikowane w: IEEE Robotics and Automation Letters, Numer 16 April 2024, 2024, Strona(/y) 5512 - 5519, ISSN 2377-3766
Wydawca: 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

Autorzy: Alessandro Palleschi; Franco Angelini; Chiara Gabellieri; Do Won Park; Lucia Pallottino; Antonio Bicchi; Manolo Garabini
Opublikowane w: IEEE Transactions on Robotics, Numer 30 June 2023, 2023, Strona(/y) 4016 - 4036, ISSN 1552-3098
Wydawca: 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

Autorzy: Adriana Torres-Pardo, David Pinto-Fernández, Manolo Garabini, Franco Angelini, David Rodriguez-Cianca, Stefano Massardi, Jesús Tornero, Juan C Moreno and Diego Torricelli
Opublikowane w: Bioinspiration & Biomimetics, Numer 13 October 2022, 2022, ISSN 1748-3190
Wydawca: 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

Autorzy: Franco Angelini, Mathew J. Pollayil, Barbara Valle, Marina Serena Borgatti, Marco Caccianiga & Manolo Garabini
Opublikowane w: Scientific Data, Numer 01 December 2023, 2023, Strona(/y) 855, ISSN 2052-4463
Wydawca: Springer Nature Limited
DOI: 10.1038/s41597-023-02764-1

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

Autorzy: Alok Ranjan; Franco Angelini; Thrishantha Nanayakkara; Manolo Garabini
Opublikowane w: IEEE/ASME Transactions on Mechatronics, Numer 03 November 2023, 2024, Strona(/y) 843 - 855, ISSN 1083-4435
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2023.3326602

Adaptive Feet for Quadrupedal Walkers

Autorzy: Catalano, Manuel Giuseppe, Mathew Jose Pollayil, Giorgio Grioli, Giorgio Valsecchi, Hendrik Kolvenbach, Marco Hutter, Antonio Bicchi, and Manolo Garabini
Opublikowane w: IEEE Transactions on Robotics, Numer 8-Jul-21, 2021, ISSN 1941-0468
Wydawca: IEEE
DOI: 10.1109/tro.2021.3088060

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

Autorzy: Giulia Pagnanelli; Michele Pierallini; Franco Angelini; Antonio Bicchi
Opublikowane w: IEEE Control Systems Letters, Numer 24 May 2024, 2024, Strona(/y) 922 - 927, ISSN 2475-1456
Wydawca: 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)

Autorzy: Franco Angelini, Mathew J. Pollayil, Federica Bonini, Daniela Gigante & Manolo Garabini
Opublikowane w: Scientific Data, Numer 27 June 2023, 2023, Strona(/y) 418, ISSN 2052-4463
Wydawca: Springer Nature Limited
DOI: 10.1038/s41597-023-02312-x

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

Autorzy: Bjelonic, Filip, Arne Sachtler, Alin Albu-Schäffer, and Cosimo Della Santina
Opublikowane w: IEEE Robotics and Automation Letters, Numer 7-Jan-22, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3141156

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

Autorzy: Franco Angelini, Mathew J. Pollayil, Giovanni Rivieccio, Maria Carmela Caria, Simonetta Bagella & Manolo Garabini
Opublikowane w: Scientific Data, Numer 24 February 2024, 2024, Strona(/y) 238, ISSN 2052-4463
Wydawca: 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)

Autorzy: Mathew J. Pollayil, Franco Angelini, Leopoldo de Simone, Emanuele Fanfarillo, Tiberio Fiaschi, Simona Maccherini, Claudia Angiolini & Manolo Garabini
Opublikowane w: Scientific Data, Numer 01 December 2023, 2023, Strona(/y) 845, ISSN 2052-4463
Wydawca: 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.

Autorzy: Yu, Zhenhua, Shehara Perera, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Opublikowane w: IEEE Robotics and Automation Letters, Numer 27-Jan-22, 2022, ISSN 2377-3766
Wydawca: 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.

Autorzy: Yu, Zhenhua, SM Hadi Sadati, Helmut Hauser, Peter RN Childs, and Thrishantha Nanayakkara
Opublikowane w: IEEE Robotics and Automation Letters, Numer 16-Mar-22, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3159859

Choosing Stiffness and Damping for Optimal Impedance Planning

Autorzy: Mathew Jose Pollayil; Franco Angelini; Guiyang Xin; Michael Mistry; Sethu Vijayakumar; Antonio Bicchi; Manolo Garabini
Opublikowane w: IEEE Transactions on Robotics, Numer 15 November 2022, 2022, Strona(/y) 1281 - 1300, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3216078

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems

Autorzy: Fabian Jenelten; Ruben Grandia; Farbod Farshidian; Marco Hutter
Opublikowane w: IEEE Transactions on Robotics, 38 (6), Numer 12, 2022, ISSN 1552-3098
Wydawca: 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

Autorzy: Jiatao Ding; Mees A. van Löben Sels; Franco Angelini; Jens Kober; Cosimo Della Santina
Opublikowane w: IEEE Robotics and Automation Letters, Numer 08 November 2023, 2024, Strona(/y) 255 - 262, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lra.2023.3331288

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

Autorzy: Ramesh krishnan Muttathil Gopanunni; Lorenzo Martignetti; Francesco Iotti; Alok Ranjan; Franco Angelini; Manolo Garabini
Opublikowane w: IEEE Open Journal of the Industrial Electronics Society, Numer 13 May 2024, 2024, Strona(/y) 468 - 480, ISSN 2644-1284
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/ojies.2024.3400052

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

Autorzy: Alexandra Velasco Vivas; Antonello Cherubini; Manolo Garabini; Paolo Salaris; Antonio Bicchi
Opublikowane w: IEEE Transactions on Systems, Man, and Cybernetics: Systems, Numer 07 April 2023, 2023, Strona(/y) 5006 - 5018, ISSN 2168-2216
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tsmc.2023.3260644

Optimal Control for Articulated Soft Robots

Autorzy: Saroj Prasad Chhatoi; Michele Pierallini; Franco Angelini; Carlos Mastalli; Manolo Garabini
Opublikowane w: IEEE Transactions on Robotics, Numer 18, 2023, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3288837

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