Dynamic Agile Production Robots That Learn and Optimise Knowledge and Operations

Resultado final

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 system

The initial implementation of functionalities for tasks T3.1, T3.2 and T3.3.

Preliminary robot control for dynamic throwing of objects

Preliminary report and benchmark on the developed machine learning and robot control algorithms for the throwing task.

Preliminary planning and control algorithms for safe manipulation

Preliminary 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 manipulation

Preliminary 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 tools

The first implementation of functionalities for tasks T3.4.

Communication plan

-

Final DARKO elastic manipulator

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 DARKO

This 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.

Final DARKO end-effector

Finalised version of the gripper to be used in the DARKO platform.

Preliminary DARKO end-effector

Preliminary version of the gripper to be used in the DARKO platform.

Initial DARKO mobile dynamic manipulation platform

The 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 demonstration

See MS2 description in Sec. 3.2.2 (Annex 1, Part B).

Publicaciones

Enhancing Causal Discovery from Robot Sensor Data in Dynamic Scenarios

Autores: Castri, Luca; Mghames, Sariah; Hanheide, Marc; Bellotto, Nicola
Publicado en: Edición 3, 2023
Editor: Clear Conference

Voting and Attention-based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds

Autores: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Publicado en: IEEE Robotics and Automation Letters, Edición 5, 2022
Editor: IEEE

Causal discovery of dynamic models for predicting human spatial interactions

Autores: Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto
Publicado en: 2022
Editor: Springer
DOI: 10.48550/arxiv.2210.16535

Fast yet predictable braking manoeuvers for real-time robot control

Autores: Mazin Hamad; Jesus Gutierrez-Moreno; Hugo T.M. Kussaba; Nico Mansfeld; Saeed Abdolshah; Abdalla Swikir; Wolfram Burgard; Sami Haddadin
Publicado en: Crossref, Edición 1, 2023
Editor: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2023.10.711

A Concise Overview of Safety Aspects in Human-Robot Interaction

Autores: Hamad, Mazin; Nertinger, Simone; Kirschner, Robin J.; Figueredo, Luis; Naceri, Abdeldjallil; Haddadin, Sami
Publicado en: Edición 1, 2023
Editor: Human-Friendly Robotics 2023: 16th International Workshop
DOI: 10.48550/arxiv.2309.09936

Atlas: a Benchmarking Tool for Human Motion Prediction Algorithms

Autores: Andrey Rudenko, Wanting Huang, Luigi Palmieri, and Kai O. Arras
Publicado en: 2021
Editor: RSS Foundation

THOR-Magni: Comparative Analysis of Deep Learning Models for Role-Conditioned Human Motion Prediction

Autores: 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
Publicado en: Proceedings of the IEEE/CVF International Conference on Computer Vision, 2023
Editor: IEEE

Lang3DSG: Language-based contrastive pre-training for 3D scene graph prediction

Autores: Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Publicado en: 2023
Editor: 2024 International Conference on 3D Vision (3DV)

A Data-Efficient Approach for Long-Term Human Motion Prediction Using Maps of Dynamics

Autores: Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Lilienthal, Achim J.; Magnusson, Martin
Publicado en: 2023
Editor: 5th LHMP Workshop held in conjunction with 40th IEEE International Conference on Robotics and Automation (ICRA)
DOI: 10.48550/arxiv.2306.03617

Insights on Oscillations and Impulses in Variable Impedance Control

Autores: Simonini, Giorgio; Colomba, Rachele Nebbia; Sammarco, Chiara; Angelini, Franco; Bicchi, Antonio; Pollayil, Mathew Jose
Publicado en: Edición 1, 2022
Editor: I-RIM
DOI: 10.5281/zenodo.7531348

An MPC Framework For Planning Safe & Trustworthy Robot Motions

Autores: Moritz Eckhoff, and Robin Jeanne Kirschner, and Elena Kern, and Saeed Abdolshah and Sami Haddadin
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/icra46639.2022.9812160

Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction

Autores: Thomas Steinecker, and Alexander Kurdas, and Nico Mansfeld, and Mazin Hamad, and Robin Jeanne Kirschner, Saeed Abdolshah and Sami Haddadin
Publicado en: 2022
Editor: IEEE

A Neuro-Symbolic Approach for Enhanced Human Motion Prediction

Autores: Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Publicado en: 2023
Editor: IJCNN
DOI: 10.48550/arxiv.2304.11740

Semantically Informed MPC for Context-Aware Robot Exploration

Autores: Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Kai Oliver Arras, Cyrill Stachniss
Publicado en: 2023
Editor: IEEE

The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized

Autores: 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
Publicado en: 2022
Editor: IEEE

Robust cartesian kinematics estimation for task-space control systems

Autores: Baradaran Birjandi, Seyed Ali and Dehio, Niels and Haddadin, Sami and Abderrahmane Kheddar
Publicado en: 2022
Editor: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver

Autores: Tim Schreiter, Lucas Morillo-Mendez, Ravi T. Chadalavada, Andrey Rudenko, Erik Billing, Martin Magnusson, Kai O. Arras, Achim J. Lilienthal
Publicado en: Proceedings of the Ro-man Conference 2023, 2023
Editor: IEEE
DOI: 10.48550/arxiv.2307.00841

Risk space modelling for human-robot collaboration in a shared intralogistics scenario

Autores: Stracca, Elena; Grioli, Giorgio; Pallottino, Lucia; Salaris, Paolo
Publicado en: Edición 1, 2022
Editor: I-RIM
DOI: 10.5281/zenodo.7531408

From Human Perception and Action Recognition to Causal Understanding of Human-Robot Interaction in Industrial Environments

Autores: 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
Publicado en: Ital-IA 2022, 2022
Editor: Consorzio Interuniversitario Nazionale per l’Informatica (CINI).

Towards Self-SupervisedPre-Training of 3DETR for Label-Efficient 3D Object Detection

Autores: Rishabh Jain, Narunas Vaskevicius, and Thomas Brox
Publicado en: 2022
Editor: IEEE

Considerations on possible approaches to measure risk for obstacle avoidance

Autores: Paiola, Lorenzo; Grioli, Giorgio; Bicchi, Antonio
Publicado en: Edición 1, 2022
Editor: I-RIM
DOI: 10.5281/zenodo.7531256

Estimation of Whole-Body Muscular Activation from an Optimal Set of Scarce Electromyographic Recordings

Autores: Marco Baracca; Giuseppe Averta; Matteo Bianchi
Publicado en: Human-Friendly Robotics 2022 ISBN: 9783031227301, Edición 1, 2022
Editor: International Workshop on Human-Friendly Robotics
DOI: 10.1007/978-3-031-22731-8_9

Efficient 2D LIDAR-Based Map Updating For Long-Term Operations in Dynamic Environments

Autores: Elisa Stefanini; Enrico Ciancolini; Alessandro Settimi; Lucia Pallottino
Publicado en: Crossref, Edición 1, 2022
Editor: I-RIM
DOI: 10.1109/iros47612.2022.9982047

From Continual Learning to Causal Discovery in Robotics

Autores: Castri, Luca; Mghames, Sariah; Bellotto, Nicola
Publicado en: Edición 3, 2023
Editor: PMLR

BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

Autores: Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah and Sami Haddadin
Publicado en: 2022
Editor: IEEE

The Atlas Benchmark: an Automated Evaluation Framework for HumanMotion Prediction

Autores: Andrey Rudenko, Luigi Palmieri, Wanting Huang, Achim J Lilienthal, and Kai O. Arras
Publicado en: 2022
Editor: IEEE

A Solution to Adaptive Mobile Manipulator Throwing

Autores: Yang Liu, Aradhana Nayak, and Aude Billard
Publicado en: 2022
Editor: IEEE
DOI: 10.1109/iros47612.2022.9981231

S* : On Safe and Time Efficient Robot Motion Planning

Autores: Riddhiman Laha AND Wenxi Wu AND Ruiai Sun AND Nico Mansfeld AND Luis F.C. Figueredo AND Sami Haddadin
Publicado en: 2023
Editor: ICRA

Global Safety Characteristics of Wheeled Mobile Manipulators

Autores: Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, and Sami Haddadin
Publicado en: 2022
Editor: IEEE

Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments

Autores: Lukas Heuer, Luigi Palmieri, Andrey Rudenko, Anna Mannucci, Martin Magnusson, Kai Oliver Arras
Publicado en: 2023
Editor: IROS

Learning optimal controllers: a dynamical motion primitive approach

Autores: Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin
Publicado en: 2023
Editor: IFAC

Efficient Causal Discovery for Robotics Applications

Autores: Luca Castri, Sariah Mghames, Nicola Bellotto
Publicado en: 2023
Editor: I-RIM 3D 2023
DOI: 10.48550/arxiv.2310.14925

Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf

Autores: Pozo Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Sami Haddadin
Publicado en: 2022
Editor: The 2022 American Control Conference (ACC)

SGRec3D: Self-Supervised 3D Scene Graph Learning via Object-Level Scene Reconstruction

Autores: Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Publicado en: 2023
Editor: IEEE Winter Conference on Applications of Computer Vision (WACV)

Towards Long-term Autonomy: A Perspective from Robot Learning

Autores: Yan, Zhi; Sun, Li; Krajnik, Tomas; Duckett, Tom; Bellotto, Nicola
Publicado en: Edición 1, 2023
Editor: AAAI-23 Bridge Program on AI & Robotics
DOI: 10.48550/arxiv.2212.12798

Evaluation of Computer Vision-Based Person Detection on Low-Cost Embedded Systems

Autores: Francesco Pasti and Nicola Bellotto
Publicado en: 2023
Editor: 18th International Conference on Computer Vision Theory and Applications (VISAPP)

Optimal electromyographic sensing for whole-body muscular activity estimation

Autores: Baracca, Marco; Averta, Giuseppe; Bianchi, Matteo
Publicado en: Edición 1, 2022
Editor: I-RIM
DOI: 10.5281/zenodo.7531397

Context-Aware Grasp Generation in Cluttered Scenes.

Autores: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Publicado en: IEEE Robotics and Automation Letters, 2022
Editor: IEEE
DOI: 10.1109/icra46639.2022.9811371

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Autores: Svarny, Petr and Hamad, Mazin and Kurdas, Alexander and Hoffmann, Matej and Abdolshah, Saeed and Haddadin, Sami
Publicado en: 2022
Editor: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Autores: Birjandi, Seyed Ali Baradaran and Khurana, Harshit and Billard, Aude and Haddadin, Sami
Publicado en: 2023
Editor: IEEE

A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading

Autores: Yildirim, M.C. and Pisano, E. and Hamad, M. and Le Mesle, V. and Swikir, A. and Haddadin, S.
Publicado en: 2023
Editor: 2023 IEEE-RAS International Conference on Humanoid Robots

A Benchmark for Multi-Robot Planning in Realistic, Complex and Cluttered Environments

Autores: Simon Schaefer, Luigi Palmieri, Lukas Heuer, Rüdiger Dillmann, Sven Koenig, Alexander Kleiner
Publicado en: 2023
Editor: IEEE

Real-time IMU-Based Learning: a Classification of Contact Materials

Autores: Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Haddadin, Sami
Publicado en: 2022
Editor: IEEE/RSJ International Conference

An Information-aware Lyapunov-based MPC for autonomous robots

Autores: Napolitano, Olga; Pallottino, Lucia; Salaris, Paolo; Fontanelli, Daniele
Publicado en: Edición 1, 2022
Editor: I-RIM
DOI: 10.5281/zenodo.7531254

Data-driven Grasping and Pre-grasp Manipulation Using Hierarchical Reinforcement Learning with Parameterized Action Primitives

Autores: Yang, Shih-Min and Magnusson, Martin and Stork, Johannes Andreas and Stoyanov, Todor
Publicado en: 2023
Editor: IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation

Benchmarking Sampling-based Motion Planning Pipelines for Wheeled Mobile Robots

Autores: Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai Oliver Arras, Gaurav S. Sukhatme, and Sven Koenig
Publicado en: 2021
Editor: ICAPS

A Solution to Adaptive Mobile Manipulator Throwing

Autores: Yang Liu, Aradhana Nayak, and Aude Billard
Publicado en: Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2022
Editor: IEEE

Alignability maps for ensuring high-precision localization

Autores: Manuel Castellano-Quero, Tomasz Piotr Kucner, and Martin Magnusson
Publicado en: 2022
Editor: IROS

Qualitative Prediction of Multi-Agent Spatial Interactions

Autores: Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Publicado en: 2023
Editor: IEEE
DOI: 10.48550/arxiv.2307.00065

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

Autores: Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Chebrolu Nived, and Stachniss Cyrill
Publicado en: 2022
Editor: IEEE

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction

Autores: Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Palmieri, Luigi; Arras, Kai O.; Lilienthal, Achim J.; Magnusson, Martin
Publicado en: Edición 1, 2023
Editor: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.48550/arxiv.2309.07066

Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study

Autores: Linder, Timm and Vaskevicius, Narunas and Schirmer, Robert and Arras, Kai Oliver
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 2021, 2021, ISSN 2153-0866
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636158

Cross-coupling stiffness for natural goal-directed robot motion

Autores: Ossadnik, Dennis and Haddadin, Sami
Publicado en: 2023
Editor: IFAC world congress

The Effect of Anthropomorphism on Trust in an Industrial Human-Robot Interaction

Autores: Tim Schreiter, Lucas Morillo-Mendez, Ravi Teja Chadalavada, Andrey Rudenko, Erik Alexander Billing and Achim J. Lilienthal
Publicado en: 2022
Editor: IEEE

Information-Aware Lyapunov-Based MPC in a Feedback-Feedforward Control Strategy for Autonomous Robots

Autores: O. Napolitano, D. Fontanelli, L. Pallottino and P. Salaris
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE Robotics & Automation Society (RAS)
DOI: 10.1109/lra.2022.3149299

CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy

Autores: Daniel Adolfsson, Manuel Castellano-Quero, Martin Magnusson, Achim J. Lilienthal, Henrik Andreasson
Publicado en: Robotics & Autonomous Systems, Edición Vol 155, September 2022, 2022, ISSN 0921-8890
Editor: Elsevier BV
DOI: 10.1016/j.robot.2022.104136

Iterative Learning Control for Compliant Underactuated Arms

Autores: Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo
Publicado en: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Editor: IEEE Transactions on Systems, Man, and Cybernetics: Systems
DOI: 10.1109/tsmc.2023.3234403

Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

Autores: Fortunić, Edmundo Pozo and Yildirim, Mehmet C. and Ossadnik, Dennis and Swikir, Abdalla and Abdolshah, Saeed and Haddadin, Sami
Publicado en: IEEE Robotics and Automation Letters, 2023, ISSN 1350-911X
Editor: The Institution of Engineering and Technology
DOI: 10.1109/lra.2023.3325782

High-Level Planning for Object Manipulation With Multi Heterogeneous Robots in Shared Environments

Autores: A. Palleschi, G. J. Pollayil, M. J. Pollayil, M. Garabini and L. Pallottino
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3145987

Crossing Point Estimation in Human/Robot Navigation - Statistical Linearization versus Sigma-Point-Transformation

Autores: Rainer Heinrich Palm and Achim J. Lilienthal
Publicado en: Engineering Applications of Artificial Intelligence - The International Journal of Intelligent Real-Time Automation, 2022, ISSN 0952-1976
Editor: Pergamon Press Ltd.

Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction

Autores: Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin.
Publicado en: EEE Robotics and Automation Letters, Edición 7.2 (2022),, 2022, Página(s) pp. 2993–3000, ISSN 2377-3766
Editor: IEEE Robotics and Automation Society
DOI: 10.1109/lra.2022.3144535

A Multi-Modal Under-Sensorized Wearable System for Optimal Kinematic and Muscular Tracking of Human Upper Limb Motion

Autores: Paolo Bonifati; Marco Baracca; Mariangela Menolotto; Giuseppe Averta; Matteo Bianchi
Publicado en: Sensors; Volume 23; Edición 7; Pages: 3716, Edición 1, 2023, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23073716

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, 2023, ISSN 2168-2232
Editor: IEEE
DOI: 10.1109/tsmc.2023.3260644

Optimal Reconstruction of Human Motion From Scarce Multimodal Data

Autores: Averta, Giuseppe and Iuculano, Matilde and Salaris, Paolo and Bianchi, Matteo
Publicado en: IEEE Transactions on Human-Machine Systems, 2022, ISSN 2168-2305
Editor: IEEE
DOI: 10.1109/thms.2022.3163184

Survey of maps of dynamics for mobile robots

Autores: 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.
Publicado en: The International Journal of Robotics Research, 2023, ISSN 0278-3649
Editor: SAGE Publications
DOI: 10.1177/02783649231190428

Human-Flow-Aware Long-Term Mobile Robot Task Planning Based on Hierarchical Reinforcement Learning

Autores: Yuchen Liu, Luigi Palmieri, Ilche Georgievski, Marco Aiello
Publicado en: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editor: IEEE Robotics and Automation Society

Learning to prevent grasp failure with soft hands: from on-lineprediction to dual-arm grasp recovery

Autores: Averta, Giuseppe, Barontini, Federica, Valdambrini, Irene, Cheli, Paolo, Bacciu, Davide, Bianchi, Matteo
Publicado en: Wiley Advanced Intelligent Systems, Edición 4, 2021, ISSN 2640-4567
Editor: Wiley
DOI: 10.1002/aisy.202100146

Grasp It Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects

Autores: Palleschi, Alessandro and Angelini, Franco and Gabellieri, Chiara and Park, Do Won and Pallottino, Lucia and Bicchi, Antonio and Garabini, Manolo
Publicado en: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3286115

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach

Autores: Mansfeld, Nico and Keppler, Manuel and Sami Haddadin
Publicado en: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3068698

Learning With Few Examples the Semantic Description of Novel Human-Inspired Grasp Strategies From RGB Data

Autores: L. Collodi, D. Bacciu, M. Bianchi and G. Averta
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3144520

Optimal Control for Articulated Soft Robots

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

Voting and Attention-based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds

Autores: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3189158

Benchmarking the utility of Maps of Dynamics for Human-aware Motion Planning

Autores: Chittaranjan Swaminathan, Tomasz Piotr Kucner, Anna Mannucci, Martin Magnusson, Luigi Palmieri, Sergi Molina, Federico Pecora, and Achim J. Lilienthal.
Publicado en: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Editor: Frontiers
DOI: 10.3389/frobt.2022.916153

Learning Extrinsic Dexterity with Parameterized Manipulation Primitives

Autores: Yang, Shih-Min; Magnusson, Martin; Stork, Johannes A.; Stoyanov, Todor
Publicado en: Edición 1, 2023
Editor: Arxiv
DOI: 10.48550/arxiv.2310.17785

Resultado final

Publicaciones

Compartir esta página

Descargar