Deliverables
Overall system architecture that will be used throughout the project. The implementation will include mock-up modules in lieu of functionalities still to be developed. The deliverable document will detail guidelines on using the software architecture, on deployment of components, and on testing procedures, also using the simulation environment. This document will be mainly for internal use. See also MS1 description in Sec. 3.2.2 (Annex 1, Part B).
Prototype implementation of mapping systemThe initial implementation of functionalities for tasks T3.1, T3.2 and T3.3.
Preliminary robot control for dynamic throwing of objectsPreliminary report and benchmark on the developed machine learning and robot control algorithms for the throwing task.
Preliminary planning and control algorithms for safe manipulationPreliminary software deliverable to provide a controller that guarantees safety and stability of task execution according to the safe velocity from risk- and human-aware SMU and kinematic constraints based on risk factors.
Preliminary planning and control software developments for efficient manipulationPreliminary software development on efficient planning and control algorithms for picking of objects in relative motion w.r.t. the manipulator and placing objects in moving boxes.
Prototype implementation of map quality assessment and localisation assessment toolsThe first implementation of functionalities for tasks T3.4.
Communication plan-
This deliverable will describe how the elastic manipulator has been developed including the elastic joints, building the prototype, the final set of sensors and integration with the general-purpose gripper from T1.2. The metrics and the database of elastic joint will be presented to show the superiority of the proposed elastic actuator compared to existing systems.
Initial report on perception in DARKOThis deliverable will report on initial research results of this work package, including novel scenario-specific datasets for training and evaluation. We will provide basic functionality for the more general tasks T2.1–T2.3, and report final results for the more specialized tasks T2.4 and T2.5.
Risk-space modelling and assessment metrics.This deliverable will formalise the definition of a multi-dimensional risk space, its composing factors and how they relate to the variables defining the state of a robot.
Finalised version of the gripper to be used in the DARKO platform.
Preliminary DARKO end-effectorPreliminary version of the gripper to be used in the DARKO platform.
Initial DARKO mobile dynamic manipulation platformThe deliverable demonstrates the the initial (phase A) DARKO’s platform, which will be operational and available for the partners’ use by the end of the third month of the project, and describes the customisation efforts.
First demonstrationSee MS2 description in Sec. 3.2.2 (Annex 1, Part B).
Publications
Author(s):
Castri, Luca; Mghames, Sariah; Hanheide, Marc; Bellotto, Nicola
Published in:
Issue 3, 2023
Publisher:
Clear Conference
Author(s):
Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Published in:
IEEE Robotics and Automation Letters, Issue 5, 2022
Publisher:
IEEE
Author(s):
Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto
Published in:
2022
Publisher:
Springer
DOI:
10.48550/arxiv.2210.16535
Author(s):
Mazin Hamad; Jesus Gutierrez-Moreno; Hugo T.M. Kussaba; Nico Mansfeld; Saeed Abdolshah; Abdalla Swikir; Wolfram Burgard; Sami Haddadin
Published in:
Crossref, Issue 1, 2023
Publisher:
IFAC-PapersOnLine
DOI:
10.1016/j.ifacol.2023.10.711
Author(s):
Hamad, Mazin; Nertinger, Simone; Kirschner, Robin J.; Figueredo, Luis; Naceri, Abdeldjallil; Haddadin, Sami
Published in:
Issue 1, 2023
Publisher:
Human-Friendly Robotics 2023: 16th International Workshop
DOI:
10.48550/arxiv.2309.09936
Author(s):
Andrey Rudenko, Wanting Huang, Luigi Palmieri, and Kai O. Arras
Published in:
2021
Publisher:
RSS Foundation
Author(s):
Tiago Rodrigues de Almeida, Andrey Rudenko, Tim Schreiter, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Tomasz P Kucner, Oscar Martinez Mozos, Martin Magnusson, Luigi Palmieri, Kai O Arras, Achim J Lilienthal
Published in:
Proceedings of the IEEE/CVF International Conference on Computer Vision, 2023
Publisher:
IEEE
Author(s):
Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Published in:
2023
Publisher:
2024 International Conference on 3D Vision (3DV)
Author(s):
Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Lilienthal, Achim J.; Magnusson, Martin
Published in:
2023
Publisher:
5th LHMP Workshop held in conjunction with 40th IEEE International Conference on Robotics and Automation (ICRA)
DOI:
10.48550/arxiv.2306.03617
Author(s):
Simonini, Giorgio; Colomba, Rachele Nebbia; Sammarco, Chiara; Angelini, Franco; Bicchi, Antonio; Pollayil, Mathew Jose
Published in:
Issue 1, 2022
Publisher:
I-RIM
DOI:
10.5281/zenodo.7531348
Author(s):
Moritz Eckhoff, and Robin Jeanne Kirschner, and Elena Kern, and Saeed Abdolshah and Sami Haddadin
Published in:
2022
Publisher:
IEEE
DOI:
10.1109/icra46639.2022.9812160
Author(s):
Thomas Steinecker, and Alexander Kurdas, and Nico Mansfeld, and Mazin Hamad, and Robin Jeanne Kirschner, Saeed Abdolshah and Sami Haddadin
Published in:
2022
Publisher:
IEEE
Author(s):
Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Published in:
2023
Publisher:
IJCNN
DOI:
10.48550/arxiv.2304.11740
Author(s):
Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Kai Oliver Arras, Cyrill Stachniss
Published in:
2023
Publisher:
IEEE
Author(s):
Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu, Martin Magnusson, Eduardo Gutíerrez Maestro, Lucas Morillo-Mendez, Andrey Rudenko, Luigi Palmieri, Kai Arras, Tomasz Kucner, Oscar Martinez Mozos, and Achim J. Lilienthal
Published in:
2022
Publisher:
IEEE
Author(s):
Baradaran Birjandi, Seyed Ali and Dehio, Niels and Haddadin, Sami and Abderrahmane Kheddar
Published in:
2022
Publisher:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Author(s):
Tim Schreiter, Lucas Morillo-Mendez, Ravi T. Chadalavada, Andrey Rudenko, Erik Billing, Martin Magnusson, Kai O. Arras, Achim J. Lilienthal
Published in:
Proceedings of the Ro-man Conference 2023, 2023
Publisher:
IEEE
DOI:
10.48550/arxiv.2307.00841
Author(s):
Stracca, Elena; Grioli, Giorgio; Pallottino, Lucia; Salaris, Paolo
Published in:
Issue 1, 2022
Publisher:
I-RIM
DOI:
10.5281/zenodo.7531408
Author(s):
Stefano Ghidoni, Matteo Terreran, Daniele Evangelista, Emanuele Menegatti, Christian Eitzinger, Enrico Villagrossi, Nicola Pedrocchi, Nicola Castaman, Marcin Malecha, Sariah Mghames, Luca Castri, Marc Hanheide and Nicola Bellotto
Published in:
Ital-IA 2022, 2022
Publisher:
Consorzio Interuniversitario Nazionale per l’Informatica (CINI).
Author(s):
Rishabh Jain, Narunas Vaskevicius, and Thomas Brox
Published in:
2022
Publisher:
IEEE
Author(s):
Paiola, Lorenzo; Grioli, Giorgio; Bicchi, Antonio
Published in:
Issue 1, 2022
Publisher:
I-RIM
DOI:
10.5281/zenodo.7531256
Author(s):
Marco Baracca; Giuseppe Averta; Matteo Bianchi
Published in:
Human-Friendly Robotics 2022 ISBN: 9783031227301, Issue 1, 2022
Publisher:
International Workshop on Human-Friendly Robotics
DOI:
10.1007/978-3-031-22731-8_9
Author(s):
Elisa Stefanini; Enrico Ciancolini; Alessandro Settimi; Lucia Pallottino
Published in:
Crossref, Issue 1, 2022
Publisher:
I-RIM
DOI:
10.1109/iros47612.2022.9982047
Author(s):
Castri, Luca; Mghames, Sariah; Bellotto, Nicola
Published in:
Issue 3, 2023
Publisher:
PMLR
Author(s):
Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah and Sami Haddadin
Published in:
2022
Publisher:
IEEE
Author(s):
Andrey Rudenko, Luigi Palmieri, Wanting Huang, Achim J Lilienthal, and Kai O. Arras
Published in:
2022
Publisher:
IEEE
Author(s):
Yang Liu, Aradhana Nayak, and Aude Billard
Published in:
2022
Publisher:
IEEE
DOI:
10.1109/iros47612.2022.9981231
Author(s):
Riddhiman Laha AND Wenxi Wu AND Ruiai Sun AND Nico Mansfeld AND Luis F.C. Figueredo AND Sami Haddadin
Published in:
2023
Publisher:
ICRA
Author(s):
Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, and Sami Haddadin
Published in:
2022
Publisher:
IEEE
Author(s):
Lukas Heuer, Luigi Palmieri, Andrey Rudenko, Anna Mannucci, Martin Magnusson, Kai Oliver Arras
Published in:
2023
Publisher:
IROS
Author(s):
Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin
Published in:
2023
Publisher:
IFAC
Author(s):
Luca Castri, Sariah Mghames, Nicola Bellotto
Published in:
2023
Publisher:
I-RIM 3D 2023
DOI:
10.48550/arxiv.2310.14925
Author(s):
Pozo Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Sami Haddadin
Published in:
2022
Publisher:
The 2022 American Control Conference (ACC)
Author(s):
Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Published in:
2023
Publisher:
IEEE Winter Conference on Applications of Computer Vision (WACV)
Author(s):
Yan, Zhi; Sun, Li; Krajnik, Tomas; Duckett, Tom; Bellotto, Nicola
Published in:
Issue 1, 2023
Publisher:
AAAI-23 Bridge Program on AI & Robotics
DOI:
10.48550/arxiv.2212.12798
Author(s):
Francesco Pasti and Nicola Bellotto
Published in:
2023
Publisher:
18th International Conference on Computer Vision Theory and Applications (VISAPP)
Author(s):
Baracca, Marco; Averta, Giuseppe; Bianchi, Matteo
Published in:
Issue 1, 2022
Publisher:
I-RIM
DOI:
10.5281/zenodo.7531397
Author(s):
Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Published in:
IEEE Robotics and Automation Letters, 2022
Publisher:
IEEE
DOI:
10.1109/icra46639.2022.9811371
Author(s):
Svarny, Petr and Hamad, Mazin and Kurdas, Alexander and Hoffmann, Matej and Abdolshah, Saeed and Haddadin, Sami
Published in:
2022
Publisher:
IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
Author(s):
Birjandi, Seyed Ali Baradaran and Khurana, Harshit and Billard, Aude and Haddadin, Sami
Published in:
2023
Publisher:
IEEE
Author(s):
Yildirim, M.C. and Pisano, E. and Hamad, M. and Le Mesle, V. and Swikir, A. and Haddadin, S.
Published in:
2023
Publisher:
2023 IEEE-RAS International Conference on Humanoid Robots
Author(s):
Simon Schaefer, Luigi Palmieri, Lukas Heuer, Rüdiger Dillmann, Sven Koenig, Alexander Kleiner
Published in:
2023
Publisher:
IEEE
Author(s):
Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Haddadin, Sami
Published in:
2022
Publisher:
IEEE/RSJ International Conference
Author(s):
Napolitano, Olga; Pallottino, Lucia; Salaris, Paolo; Fontanelli, Daniele
Published in:
Issue 1, 2022
Publisher:
I-RIM
DOI:
10.5281/zenodo.7531254
Author(s):
Yang, Shih-Min and Magnusson, Martin and Stork, Johannes Andreas and Stoyanov, Todor
Published in:
2023
Publisher:
IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation
Author(s):
Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai Oliver Arras, Gaurav S. Sukhatme, and Sven Koenig
Published in:
2021
Publisher:
ICAPS
Author(s):
Yang Liu, Aradhana Nayak, and Aude Billard
Published in:
Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2022
Publisher:
IEEE
Author(s):
Manuel Castellano-Quero, Tomasz Piotr Kucner, and Martin Magnusson
Published in:
2022
Publisher:
IROS
Author(s):
Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Published in:
2023
Publisher:
IEEE
DOI:
10.48550/arxiv.2307.00065
Author(s):
Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Chebrolu Nived, and Stachniss Cyrill
Published in:
2022
Publisher:
IEEE
Author(s):
Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Palmieri, Luigi; Arras, Kai O.; Lilienthal, Achim J.; Magnusson, Martin
Published in:
Issue 1, 2023
Publisher:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI:
10.48550/arxiv.2309.07066
Author(s):
Linder, Timm and Vaskevicius, Narunas and Schirmer, Robert and Arras, Kai Oliver
Published in:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue 2021, 2021, ISSN 2153-0866
Publisher:
IEEE
DOI:
10.1109/iros51168.2021.9636158
Author(s):
Ossadnik, Dennis and Haddadin, Sami
Published in:
2023
Publisher:
IFAC world congress
Author(s):
Tim Schreiter, Lucas Morillo-Mendez, Ravi Teja Chadalavada, Andrey Rudenko, Erik Alexander Billing and Achim J. Lilienthal
Published in:
2022
Publisher:
IEEE
Author(s):
O. Napolitano, D. Fontanelli, L. Pallottino and P. Salaris
Published in:
IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher:
IEEE Robotics & Automation Society (RAS)
DOI:
10.1109/lra.2022.3149299
Author(s):
Daniel Adolfsson, Manuel Castellano-Quero, Martin Magnusson, Achim J. Lilienthal, Henrik Andreasson
Published in:
Robotics & Autonomous Systems, Issue Vol 155, September 2022, 2022, ISSN 0921-8890
Publisher:
Elsevier BV
DOI:
10.1016/j.robot.2022.104136
Author(s):
Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo
Published in:
IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Publisher:
IEEE Transactions on Systems, Man, and Cybernetics: Systems
DOI:
10.1109/tsmc.2023.3234403
Author(s):
Fortunić, Edmundo Pozo and Yildirim, Mehmet C. and Ossadnik, Dennis and Swikir, Abdalla and Abdolshah, Saeed and Haddadin, Sami
Published in:
IEEE Robotics and Automation Letters, 2023, ISSN 1350-911X
Publisher:
The Institution of Engineering and Technology
DOI:
10.1109/lra.2023.3325782
Author(s):
A. Palleschi, G. J. Pollayil, M. J. Pollayil, M. Garabini and L. Pallottino
Published in:
IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/lra.2022.3145987
Author(s):
Rainer Heinrich Palm and Achim J. Lilienthal
Published in:
Engineering Applications of Artificial Intelligence - The International Journal of Intelligent Real-Time Automation, 2022, ISSN 0952-1976
Publisher:
Pergamon Press Ltd.
Author(s):
Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin.
Published in:
EEE Robotics and Automation Letters, Issue 7.2 (2022),, 2022, Page(s) pp. 2993–3000, ISSN 2377-3766
Publisher:
IEEE Robotics and Automation Society
DOI:
10.1109/lra.2022.3144535
Author(s):
Paolo Bonifati; Marco Baracca; Mariangela Menolotto; Giuseppe Averta; Matteo Bianchi
Published in:
Sensors; Volume 23; Issue 7; Pages: 3716, Issue 1, 2023, ISSN 1424-8220
Publisher:
Multidisciplinary Digital Publishing Institute (MDPI)
DOI:
10.3390/s23073716
Author(s):
Alexandra Velasco Vivas; Antonello Cherubini; Manolo Garabini; Paolo Salaris; Antonio Bicchi
Published in:
IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, 2023, ISSN 2168-2232
Publisher:
IEEE
DOI:
10.1109/tsmc.2023.3260644
Author(s):
Averta, Giuseppe and Iuculano, Matilde and Salaris, Paolo and Bianchi, Matteo
Published in:
IEEE Transactions on Human-Machine Systems, 2022, ISSN 2168-2305
Publisher:
IEEE
DOI:
10.1109/thms.2022.3163184
Author(s):
Tomasz Piotr Kucner and Martin Magnusson and Sariah Mghames and Luigi Palmieri and Francesco Verdoja and Chittaranjan Srinivas Swaminathan and Tomáš Krajník and Erik Schaffernicht and Nicola Bellotto and Marc Hanheide and Achim J Lilienthal.
Published in:
The International Journal of Robotics Research, 2023, ISSN 0278-3649
Publisher:
SAGE Publications
DOI:
10.1177/02783649231190428
Author(s):
Yuchen Liu, Luigi Palmieri, Ilche Georgievski, Marco Aiello
Published in:
IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher:
IEEE Robotics and Automation Society
Author(s):
Averta, Giuseppe, Barontini, Federica, Valdambrini, Irene, Cheli, Paolo, Bacciu, Davide, Bianchi, Matteo
Published in:
Wiley Advanced Intelligent Systems, Issue 4, 2021, ISSN 2640-4567
Publisher:
Wiley
DOI:
10.1002/aisy.202100146
Author(s):
Palleschi, Alessandro and Angelini, Franco and Gabellieri, Chiara and Park, Do Won and Pallottino, Lucia and Bicchi, Antonio and Garabini, Manolo
Published in:
IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Publisher:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tro.2023.3286115
Author(s):
Mansfeld, Nico and Keppler, Manuel and Sami Haddadin
Published in:
IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/lra.2021.3068698
Author(s):
L. Collodi, D. Bacciu, M. Bianchi and G. Averta
Published in:
IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/lra.2022.3144520
Author(s):
Chhatoi, Saroj Prasad and Pierallini, Michele and Angelini, Franco and Mastalli, Carlos and Garabini, Manolo
Published in:
IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Publisher:
Institute of Electrical and Electronics Engineers
DOI:
10.1109/tro.2023.3288837
Author(s):
Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Published in:
IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/lra.2022.3189158
Author(s):
Chittaranjan Swaminathan, Tomasz Piotr Kucner, Anna Mannucci, Martin Magnusson, Luigi Palmieri, Sergi Molina, Federico Pecora, and Achim J. Lilienthal.
Published in:
Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Publisher:
Frontiers
DOI:
10.3389/frobt.2022.916153
Author(s):
Yang, Shih-Min; Magnusson, Martin; Stork, Johannes A.; Stoyanov, Todor
Published in:
Issue 1, 2023
Publisher:
Arxiv
DOI:
10.48550/arxiv.2310.17785
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