Dynamic Agile Production Robots That Learn and Optimise Knowledge and Operations

Risultati finali

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).

Pubblicazioni

Enhancing Causal Discovery from Robot Sensor Data in Dynamic Scenarios

Autori: Castri, Luca; Mghames, Sariah; Hanheide, Marc; Bellotto, Nicola
Pubblicato in: Numero 3, 2023
Editore: Clear Conference

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

Autori: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Pubblicato in: IEEE Robotics and Automation Letters, Numero 5, 2022
Editore: IEEE

Causal discovery of dynamic models for predicting human spatial interactions

Autori: Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto
Pubblicato in: 2022
Editore: Springer
DOI: 10.48550/arxiv.2210.16535

Fast yet predictable braking manoeuvers for real-time robot control

Autori: Mazin Hamad; Jesus Gutierrez-Moreno; Hugo T.M. Kussaba; Nico Mansfeld; Saeed Abdolshah; Abdalla Swikir; Wolfram Burgard; Sami Haddadin
Pubblicato in: Crossref, Numero 1, 2023
Editore: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2023.10.711

A Concise Overview of Safety Aspects in Human-Robot Interaction

Autori: Hamad, Mazin; Nertinger, Simone; Kirschner, Robin J.; Figueredo, Luis; Naceri, Abdeldjallil; Haddadin, Sami
Pubblicato in: Numero 1, 2023
Editore: Human-Friendly Robotics 2023: 16th International Workshop
DOI: 10.48550/arxiv.2309.09936

Atlas: a Benchmarking Tool for Human Motion Prediction Algorithms

Autori: Andrey Rudenko, Wanting Huang, Luigi Palmieri, and Kai O. Arras
Pubblicato in: 2021
Editore: RSS Foundation

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

Autori: 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
Pubblicato in: Proceedings of the IEEE/CVF International Conference on Computer Vision, 2023
Editore: IEEE

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

Autori: Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Pubblicato in: 2023
Editore: 2024 International Conference on 3D Vision (3DV)

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

Autori: Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Lilienthal, Achim J.; Magnusson, Martin
Pubblicato in: 2023
Editore: 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

Autori: Simonini, Giorgio; Colomba, Rachele Nebbia; Sammarco, Chiara; Angelini, Franco; Bicchi, Antonio; Pollayil, Mathew Jose
Pubblicato in: Numero 1, 2022
Editore: I-RIM
DOI: 10.5281/zenodo.7531348

An MPC Framework For Planning Safe & Trustworthy Robot Motions

Autori: Moritz Eckhoff, and Robin Jeanne Kirschner, and Elena Kern, and Saeed Abdolshah and Sami Haddadin
Pubblicato in: 2022
Editore: IEEE
DOI: 10.1109/icra46639.2022.9812160

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

Autori: Thomas Steinecker, and Alexander Kurdas, and Nico Mansfeld, and Mazin Hamad, and Robin Jeanne Kirschner, Saeed Abdolshah and Sami Haddadin
Pubblicato in: 2022
Editore: IEEE

A Neuro-Symbolic Approach for Enhanced Human Motion Prediction

Autori: Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Pubblicato in: 2023
Editore: IJCNN
DOI: 10.48550/arxiv.2304.11740

Semantically Informed MPC for Context-Aware Robot Exploration

Autori: Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Kai Oliver Arras, Cyrill Stachniss
Pubblicato in: 2023
Editore: IEEE

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

Autori: 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
Pubblicato in: 2022
Editore: IEEE

Robust cartesian kinematics estimation for task-space control systems

Autori: Baradaran Birjandi, Seyed Ali and Dehio, Niels and Haddadin, Sami and Abderrahmane Kheddar
Pubblicato in: 2022
Editore: 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

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

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

Autori: Stracca, Elena; Grioli, Giorgio; Pallottino, Lucia; Salaris, Paolo
Pubblicato in: Numero 1, 2022
Editore: I-RIM
DOI: 10.5281/zenodo.7531408

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

Autori: 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
Pubblicato in: Ital-IA 2022, 2022
Editore: Consorzio Interuniversitario Nazionale per l’Informatica (CINI).

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

Autori: Rishabh Jain, Narunas Vaskevicius, and Thomas Brox
Pubblicato in: 2022
Editore: IEEE

Considerations on possible approaches to measure risk for obstacle avoidance

Autori: Paiola, Lorenzo; Grioli, Giorgio; Bicchi, Antonio
Pubblicato in: Numero 1, 2022
Editore: I-RIM
DOI: 10.5281/zenodo.7531256

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

Autori: Marco Baracca; Giuseppe Averta; Matteo Bianchi
Pubblicato in: Human-Friendly Robotics 2022 ISBN: 9783031227301, Numero 1, 2022
Editore: 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

Autori: Elisa Stefanini; Enrico Ciancolini; Alessandro Settimi; Lucia Pallottino
Pubblicato in: Crossref, Numero 1, 2022
Editore: I-RIM
DOI: 10.1109/iros47612.2022.9982047

From Continual Learning to Causal Discovery in Robotics

Autori: Castri, Luca; Mghames, Sariah; Bellotto, Nicola
Pubblicato in: Numero 3, 2023
Editore: PMLR

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

Autori: Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah and Sami Haddadin
Pubblicato in: 2022
Editore: IEEE

The Atlas Benchmark: an Automated Evaluation Framework for HumanMotion Prediction

Autori: Andrey Rudenko, Luigi Palmieri, Wanting Huang, Achim J Lilienthal, and Kai O. Arras
Pubblicato in: 2022
Editore: IEEE

A Solution to Adaptive Mobile Manipulator Throwing

Autori: Yang Liu, Aradhana Nayak, and Aude Billard
Pubblicato in: 2022
Editore: IEEE
DOI: 10.1109/iros47612.2022.9981231

S* : On Safe and Time Efficient Robot Motion Planning

Autori: Riddhiman Laha AND Wenxi Wu AND Ruiai Sun AND Nico Mansfeld AND Luis F.C. Figueredo AND Sami Haddadin
Pubblicato in: 2023
Editore: ICRA

Global Safety Characteristics of Wheeled Mobile Manipulators

Autori: Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, and Sami Haddadin
Pubblicato in: 2022
Editore: IEEE

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

Autori: Lukas Heuer, Luigi Palmieri, Andrey Rudenko, Anna Mannucci, Martin Magnusson, Kai Oliver Arras
Pubblicato in: 2023
Editore: IROS

Learning optimal controllers: a dynamical motion primitive approach

Autori: Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin
Pubblicato in: 2023
Editore: IFAC

Efficient Causal Discovery for Robotics Applications

Autori: Luca Castri, Sariah Mghames, Nicola Bellotto
Pubblicato in: 2023
Editore: I-RIM 3D 2023
DOI: 10.48550/arxiv.2310.14925

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

Autori: Pozo Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Sami Haddadin
Pubblicato in: 2022
Editore: The 2022 American Control Conference (ACC)

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

Autori: Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Pubblicato in: 2023
Editore: IEEE Winter Conference on Applications of Computer Vision (WACV)

Towards Long-term Autonomy: A Perspective from Robot Learning

Autori: Yan, Zhi; Sun, Li; Krajnik, Tomas; Duckett, Tom; Bellotto, Nicola
Pubblicato in: Numero 1, 2023
Editore: 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

Autori: Francesco Pasti and Nicola Bellotto
Pubblicato in: 2023
Editore: 18th International Conference on Computer Vision Theory and Applications (VISAPP)

Optimal electromyographic sensing for whole-body muscular activity estimation

Autori: Baracca, Marco; Averta, Giuseppe; Bianchi, Matteo
Pubblicato in: Numero 1, 2022
Editore: I-RIM
DOI: 10.5281/zenodo.7531397

Context-Aware Grasp Generation in Cluttered Scenes.

Autori: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Pubblicato in: IEEE Robotics and Automation Letters, 2022
Editore: IEEE
DOI: 10.1109/icra46639.2022.9811371

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Autori: Svarny, Petr and Hamad, Mazin and Kurdas, Alexander and Hoffmann, Matej and Abdolshah, Saeed and Haddadin, Sami
Pubblicato in: 2022
Editore: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)

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

Autori: Birjandi, Seyed Ali Baradaran and Khurana, Harshit and Billard, Aude and Haddadin, Sami
Pubblicato in: 2023
Editore: IEEE

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

Autori: Yildirim, M.C. and Pisano, E. and Hamad, M. and Le Mesle, V. and Swikir, A. and Haddadin, S.
Pubblicato in: 2023
Editore: 2023 IEEE-RAS International Conference on Humanoid Robots

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

Autori: Simon Schaefer, Luigi Palmieri, Lukas Heuer, Rüdiger Dillmann, Sven Koenig, Alexander Kleiner
Pubblicato in: 2023
Editore: IEEE

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

Autori: Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Haddadin, Sami
Pubblicato in: 2022
Editore: IEEE/RSJ International Conference

An Information-aware Lyapunov-based MPC for autonomous robots

Autori: Napolitano, Olga; Pallottino, Lucia; Salaris, Paolo; Fontanelli, Daniele
Pubblicato in: Numero 1, 2022
Editore: I-RIM
DOI: 10.5281/zenodo.7531254

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

Autori: Yang, Shih-Min and Magnusson, Martin and Stork, Johannes Andreas and Stoyanov, Todor
Pubblicato in: 2023
Editore: IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation

Benchmarking Sampling-based Motion Planning Pipelines for Wheeled Mobile Robots

Autori: Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai Oliver Arras, Gaurav S. Sukhatme, and Sven Koenig
Pubblicato in: 2021
Editore: ICAPS

A Solution to Adaptive Mobile Manipulator Throwing

Autori: Yang Liu, Aradhana Nayak, and Aude Billard
Pubblicato in: Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 2022
Editore: IEEE

Alignability maps for ensuring high-precision localization

Autori: Manuel Castellano-Quero, Tomasz Piotr Kucner, and Martin Magnusson
Pubblicato in: 2022
Editore: IROS

Qualitative Prediction of Multi-Agent Spatial Interactions

Autori: Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Pubblicato in: 2023
Editore: IEEE
DOI: 10.48550/arxiv.2307.00065

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

Autori: Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Chebrolu Nived, and Stachniss Cyrill
Pubblicato in: 2022
Editore: IEEE

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

Autori: Zhu, Yufei; Rudenko, Andrey; Kucner, Tomasz P.; Palmieri, Luigi; Arras, Kai O.; Lilienthal, Achim J.; Magnusson, Martin
Pubblicato in: Numero 1, 2023
Editore: 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

Autori: Linder, Timm and Vaskevicius, Narunas and Schirmer, Robert and Arras, Kai Oliver
Pubblicato in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 2021, 2021, ISSN 2153-0866
Editore: IEEE
DOI: 10.1109/iros51168.2021.9636158

Cross-coupling stiffness for natural goal-directed robot motion

Autori: Ossadnik, Dennis and Haddadin, Sami
Pubblicato in: 2023
Editore: IFAC world congress

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

Autori: Tim Schreiter, Lucas Morillo-Mendez, Ravi Teja Chadalavada, Andrey Rudenko, Erik Alexander Billing and Achim J. Lilienthal
Pubblicato in: 2022
Editore: IEEE

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

Autori: O. Napolitano, D. Fontanelli, L. Pallottino and P. Salaris
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: 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

Autori: Daniel Adolfsson, Manuel Castellano-Quero, Martin Magnusson, Achim J. Lilienthal, Henrik Andreasson
Pubblicato in: Robotics & Autonomous Systems, Numero Vol 155, September 2022, 2022, ISSN 0921-8890
Editore: Elsevier BV
DOI: 10.1016/j.robot.2022.104136

Iterative Learning Control for Compliant Underactuated Arms

Autori: Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo
Pubblicato in: IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2023, ISSN 2168-2232
Editore: 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

Autori: Fortunić, Edmundo Pozo and Yildirim, Mehmet C. and Ossadnik, Dennis and Swikir, Abdalla and Abdolshah, Saeed and Haddadin, Sami
Pubblicato in: IEEE Robotics and Automation Letters, 2023, ISSN 1350-911X
Editore: 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

Autori: A. Palleschi, G. J. Pollayil, M. J. Pollayil, M. Garabini and L. Pallottino
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3145987

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

Autori: Rainer Heinrich Palm and Achim J. Lilienthal
Pubblicato in: Engineering Applications of Artificial Intelligence - The International Journal of Intelligent Real-Time Automation, 2022, ISSN 0952-1976
Editore: Pergamon Press Ltd.

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

Autori: Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, and Sami Haddadin.
Pubblicato in: EEE Robotics and Automation Letters, Numero 7.2 (2022),, 2022, Pagina/e pp. 2993–3000, ISSN 2377-3766
Editore: 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

Autori: Paolo Bonifati; Marco Baracca; Mariangela Menolotto; Giuseppe Averta; Matteo Bianchi
Pubblicato in: Sensors; Volume 23; Numero 7; Pages: 3716, Numero 1, 2023, ISSN 1424-8220
Editore: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23073716

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

Autori: Alexandra Velasco Vivas; Antonello Cherubini; Manolo Garabini; Paolo Salaris; Antonio Bicchi
Pubblicato in: IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS: SYSTEMS, 2023, ISSN 2168-2232
Editore: IEEE
DOI: 10.1109/tsmc.2023.3260644

Optimal Reconstruction of Human Motion From Scarce Multimodal Data

Autori: Averta, Giuseppe and Iuculano, Matilde and Salaris, Paolo and Bianchi, Matteo
Pubblicato in: IEEE Transactions on Human-Machine Systems, 2022, ISSN 2168-2305
Editore: IEEE
DOI: 10.1109/thms.2022.3163184

Survey of maps of dynamics for mobile robots

Autori: 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.
Pubblicato in: The International Journal of Robotics Research, 2023, ISSN 0278-3649
Editore: SAGE Publications
DOI: 10.1177/02783649231190428

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

Autori: Yuchen Liu, Luigi Palmieri, Ilche Georgievski, Marco Aiello
Pubblicato in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editore: IEEE Robotics and Automation Society

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

Autori: Averta, Giuseppe, Barontini, Federica, Valdambrini, Irene, Cheli, Paolo, Bacciu, Davide, Bianchi, Matteo
Pubblicato in: Wiley Advanced Intelligent Systems, Numero 4, 2021, ISSN 2640-4567
Editore: 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

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

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

Autori: Mansfeld, Nico and Keppler, Manuel and Sami Haddadin
Pubblicato in: IEEE Robotics and Automation Letters, 2021, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3068698

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

Autori: L. Collodi, D. Bacciu, M. Bianchi and G. Averta
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3144520

Optimal Control for Articulated Soft Robots

Autori: Chhatoi, Saroj Prasad and Pierallini, Michele and Angelini, Franco and Mastalli, Carlos and Garabini, Manolo
Pubblicato in: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Editore: 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

Autori: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Pubblicato in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3189158

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

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

Learning Extrinsic Dexterity with Parameterized Manipulation Primitives

Autori: Yang, Shih-Min; Magnusson, Martin; Stork, Johannes A.; Stoyanov, Todor
Pubblicato in: Numero 1, 2023
Editore: Arxiv
DOI: 10.48550/arxiv.2310.17785

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