Dynamic Agile Production Robots That Learn and Optimise Knowledge and Operations

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

System architecture

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.

Implementation of the complete mapping system

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

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

Planning and control algorithms for safe manipulation

Finalised report for describing the developed controller and adaptions made for generating safe and stable motion during Phase B (elastic manipulator on top of the mobile base).

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.

Final mapping report

Report on the final version of DARKO mapping system. Including advanced functionalities for tasks T3.1, T3.2, T3.3, T3.4.

Final report on perception in DARKO

This deliverable will report on the final perception system developed in DARKO, covering more challenging scenarios and providing all required functionality for a successful final demonstration. We will further assess whether the success measures described below have been met, and how the research within work package WP2 has contributed to the overall objectives of the project outlined in Sec. 1.1.

Report on system for communication of robot intent

This deliverable will report on the final system for communication of robot intent developed in T5.2, including its scientific evaluation and the final software prototype (the first prototypes will be available in M24).

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.

Report on prediction of human motion and intents

The deliverable will report on the system for prediction of human motion and intents developed in T5.1, including its scientific results and an initial software prototype that will be providing input to other components in DARKO (e.g. motion planning and control in WP6).

Report on techniques for predictive local planning

This deliverable will report on scientific results obtained by the predictive planning techniques developed in T6.1 and their integration aspects into the DARKO motion planning system showed in deliverable D6.3.

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.

Report on risk-aware planning and control

Report on motion planning and control strategies developed in T6.2 for limiting external risk factors.

Representations and reasoning algorithms for HRSI

The deliverable consists of a report presenting the final implementation and evaluation of the solutions developed in T5.3 and T5.4 for HRSI.

Robot control for dynamic throwing of objects

Final report on the applied robot control and learning algorithm for the throwing task.

Adaptation and finalised DARKO mobile platform

This deliverable will report the efforts to integrate the elastic manipulator with the mobile base and adaptation based on the feedback from partners.

Planning and control algorithms for efficient manipulation

Finalised report on the developed efficient planning and control algorithms for picking of objects in relative motion w.r.t. the manipulator and placing objects in moving boxes.

Report on safe dynamic mobile platform planning

The deliverable will describe the results of T6.4. More specifically, the concept of vSMU and the calculation of reflected inertia will be presented and we demonstrate how the knowledge about risks, human position and intention trigger vSMU implementation to increase the efficiency.

Second intermediate demonstration

See MS3 description in Sec. 3.2.2 (Annex 1, Part B). As an additional demonstration show-case contributing to O3 and O5, we will present a user interface to facilitate easy deployment of robots in intralogistics settings, which leverages some of the key results of T2.1, T2.5, T5.1 and T5.2 by allowing the user to easily define pick-up/drop-off points through pointing his hands to areas/objects of interest.

Final demonstration

See MS4 description in Sec. 3.2.2 (Annex 1, Part B).

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).

Publikacje

Enhancing Causal Discovery from Robot Sensor Data in Dynamic Scenarios

Autorzy: Castri, Luca; Mghames, Sariah; Hanheide, Marc; Bellotto, Nicola
Opublikowane w: Numer 3, 2023
Wydawca: Clear Conference

Benchmarking Multi-Robot Coordination in Realistic, Unstructured Human-Shared Environments

Autorzy: Lukas Heuer, Luigi Palmieri, Anna Mannucci, Sven Koenig, Martin Magnusson
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Strona(/y) 14541-14547
Wydawca: IEEE
DOI: 10.1109/icra57147.2024.10611005

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

Autorzy: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Opublikowane w: IEEE Robotics and Automation Letters, Numer 5, 2022
Wydawca: IEEE

Causal discovery of dynamic models for predicting human spatial interactions

Autorzy: Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto
Opublikowane w: 2022
Wydawca: Springer
DOI: 10.48550/arxiv.2210.16535

Fast yet predictable braking manoeuvers for real-time robot control

Autorzy: Mazin Hamad; Jesus Gutierrez-Moreno; Hugo T.M. Kussaba; Nico Mansfeld; Saeed Abdolshah; Abdalla Swikir; Wolfram Burgard; Sami Haddadin
Opublikowane w: Crossref, Numer 1, 2023
Wydawca: IFAC-PapersOnLine
DOI: 10.1016/j.ifacol.2023.10.711

A technical integration framework for human-like motion generation in symmetric dual arm picking of large objects

Autorzy: Marco Baracca, Luca Morello, Matteo Bianchi
Opublikowane w: 2025 IEEE/SICE International Symposium on System Integration (SII), 2025, Strona(/y) 984-989
Wydawca: IEEE
DOI: 10.1109/sii59315.2025.10871061

A Concise Overview of Safety Aspects in Human-Robot Interaction

Autorzy: Hamad, Mazin; Nertinger, Simone; Kirschner, Robin J.; Figueredo, Luis; Naceri, Abdeldjallil; Haddadin, Sami
Opublikowane w: Numer 1, 2023
Wydawca: Human-Friendly Robotics 2023: 16th International Workshop
DOI: 10.48550/arxiv.2309.09936

Atlas: a Benchmarking Tool for Human Motion Prediction Algorithms

Autorzy: Andrey Rudenko, Wanting Huang, Luigi Palmieri, and Kai O. Arras
Opublikowane w: 2021
Wydawca: RSS Foundation

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

Autorzy: 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
Opublikowane w: Proceedings of the IEEE/CVF International Conference on Computer Vision, 2023
Wydawca: IEEE

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

Autorzy: Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Opublikowane w: 2023
Wydawca: 2024 International Conference on 3D Vision (3DV)

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

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

3QFP: Efficient neural implicit surface reconstruction using Tri-Quadtrees and Fourier feature Positional encoding

Autorzy: Shuo Sun, Malcolm Mielle, Achim J. Lilienthal, Martin Magnusson
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Strona(/y) 4036-4044
Wydawca: IEEE
DOI: 10.1109/icra57147.2024.10610338

Insights on Oscillations and Impulses in Variable Impedance Control

Autorzy: Simonini, Giorgio; Colomba, Rachele Nebbia; Sammarco, Chiara; Angelini, Franco; Bicchi, Antonio; Pollayil, Mathew Jose
Opublikowane w: Numer 1, 2022
Wydawca: I-RIM
DOI: 10.5281/zenodo.7531348

An MPC Framework For Planning Safe & Trustworthy Robot Motions

Autorzy: Moritz Eckhoff, and Robin Jeanne Kirschner, and Elena Kern, and Saeed Abdolshah and Sami Haddadin
Opublikowane w: 2022
Wydawca: IEEE
DOI: 10.1109/icra46639.2022.9812160

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

Autorzy: Thomas Steinecker, and Alexander Kurdas, and Nico Mansfeld, and Mazin Hamad, and Robin Jeanne Kirschner, Saeed Abdolshah and Sami Haddadin
Opublikowane w: 2022
Wydawca: IEEE

A Neuro-Symbolic Approach for Enhanced Human Motion Prediction

Autorzy: Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Opublikowane w: 2023
Wydawca: IJCNN
DOI: 10.48550/arxiv.2304.11740

Semantically Informed MPC for Context-Aware Robot Exploration

Autorzy: Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Kai Oliver Arras, Cyrill Stachniss
Opublikowane w: 2023
Wydawca: IEEE

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

Autorzy: 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
Opublikowane w: 2022
Wydawca: IEEE

KEA: Keeping Exploration Alive by Proactively Coordinating Exploration Strategies

Autorzy: Shih-Min Yang, Martin Magnusson, Johannes A. Stork and Todor Stoyanov
Opublikowane w: 2025
Wydawca: International Conference on Machine Learning
DOI: 10.48550/arxiv.2503.18234

Robust cartesian kinematics estimation for task-space control systems

Autorzy: Baradaran Birjandi, Seyed Ali and Dehio, Niels and Haddadin, Sami and Abderrahmane Kheddar
Opublikowane w: 2022
Wydawca: 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

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

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

Autorzy: Stracca, Elena; Grioli, Giorgio; Pallottino, Lucia; Salaris, Paolo
Opublikowane w: Numer 1, 2022
Wydawca: I-RIM
DOI: 10.5281/zenodo.7531408

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

Autorzy: 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
Opublikowane w: Ital-IA 2022, 2022
Wydawca: Consorzio Interuniversitario Nazionale per l’Informatica (CINI).

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

Autorzy: Rishabh Jain, Narunas Vaskevicius, and Thomas Brox
Opublikowane w: 2022
Wydawca: IEEE

Considerations on possible approaches to measure risk for obstacle avoidance

Autorzy: Paiola, Lorenzo; Grioli, Giorgio; Bicchi, Antonio
Opublikowane w: Numer 1, 2022
Wydawca: I-RIM
DOI: 10.5281/zenodo.7531256

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

Autorzy: Marco Baracca; Giuseppe Averta; Matteo Bianchi
Opublikowane w: Human-Friendly Robotics 2022 ISBN: 9783031227301, Numer 1, 2022
Wydawca: 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

Autorzy: Elisa Stefanini; Enrico Ciancolini; Alessandro Settimi; Lucia Pallottino
Opublikowane w: Crossref, Numer 1, 2022
Wydawca: I-RIM
DOI: 10.1109/iros47612.2022.9982047

From Continual Learning to Causal Discovery in Robotics

Autorzy: Castri, Luca; Mghames, Sariah; Bellotto, Nicola
Opublikowane w: Numer 3, 2023
Wydawca: PMLR

THÖR-Magni: Comparative Analysis of Deep Learning Models for Role-conditioned Human Motion Prediction

Autorzy: 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
Opublikowane w: 2023 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW), 2024, Strona(/y) 2192-2201
Wydawca: IEEE
DOI: 10.1109/iccvw60793.2023.00234

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

Autorzy: Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah and Sami Haddadin
Opublikowane w: 2022
Wydawca: IEEE

A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators

Autorzy: Sebastian Kuhn, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Kübra Karacan, Abdalla Swikir, Sami Haddadin
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Strona(/y) 3682-3689
Wydawca: IEEE
DOI: 10.1109/iros58592.2024.10802223

The Atlas Benchmark: an Automated Evaluation Framework for HumanMotion Prediction

Autorzy: Andrey Rudenko, Luigi Palmieri, Wanting Huang, Achim J Lilienthal, and Kai O. Arras
Opublikowane w: 2022
Wydawca: IEEE

High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization

Autorzy: Shuo Sun, Malcolm Mielle, Achim J. Lilienthal, Martin Magnusson
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Strona(/y) 10476-10482
Wydawca: IEEE
DOI: 10.1109/iros58592.2024.10802373

A Solution to Adaptive Mobile Manipulator Throwing

Autorzy: Yang Liu, Aradhana Nayak, and Aude Billard
Opublikowane w: 2022
Wydawca: IEEE
DOI: 10.1109/iros47612.2022.9981231

S* : On Safe and Time Efficient Robot Motion Planning

Autorzy: Riddhiman Laha AND Wenxi Wu AND Ruiai Sun AND Nico Mansfeld AND Luis F.C. Figueredo AND Sami Haddadin
Opublikowane w: 2023
Wydawca: ICRA

Acquisition of high-quality images for camera calibration in robotics applications via speech prompts

Autorzy: Timm Linder, Kadir Yilmaz , David Adrian, and Bastian Leibe.
Opublikowane w: 2025
Wydawca: German Robotics Conference (GRC)
DOI: 10.48550/arxiv.2504.11031

Global Safety Characteristics of Wheeled Mobile Manipulators

Autorzy: Nico Mansfeld, Guillermo Gómez Peña, Mazin Hamad, Alexander Kurdas, Saeed Abdolshah, and Sami Haddadin
Opublikowane w: 2022
Wydawca: IEEE

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

Autorzy: Lukas Heuer, Luigi Palmieri, Andrey Rudenko, Anna Mannucci, Martin Magnusson, Kai Oliver Arras
Opublikowane w: 2023
Wydawca: IROS

Fast Online Learning of CLiFF-maps in Changing Environments

Autorzy: Yufei Zhu and Andrey Rudenko and Luigi Palmieri and Lukas Heuer and Achim J. Lilienthal and Martin Magnusson
Opublikowane w: 2025
Wydawca: ICRA
DOI: 10.48550/arxiv.2410.12237

Systematic Comparison of Projection Methods for Monocular 3D Human Pose Estimation on Fisheye Images

Autorzy: Stephanie Käs, Sven Peter, Henrik Thillmann, Anton Burenko, David Benjamin Adrian, Dennis Mack, Timm Linder, Bastian Leibe
Opublikowane w: 2025
Wydawca: IEEE

Evaluating Efficiency and Engagement in Scripted and LLM-Enhanced Human-Robot Interactions

Autorzy: Tim Schreiter, Jens V. Rüppel, Rishi Hazra, Andrey Rudenko, Martin Magnusson, Achim J. Lilienthal
Opublikowane w: 2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI), 2025, Strona(/y) 1608-1612
Wydawca: IEEE
DOI: 10.1109/hri61500.2025.10974124

Learning optimal controllers: a dynamical motion primitive approach

Autorzy: Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, Sami Haddadin
Opublikowane w: 2023
Wydawca: IFAC

Efficient Causal Discovery for Robotics Applications

Autorzy: Luca Castri, Sariah Mghames, Nicola Bellotto
Opublikowane w: 2023
Wydawca: I-RIM 3D 2023
DOI: 10.48550/arxiv.2310.14925

neuROSym: Deployment and Evaluation of a ROS-based Neuro-Symbolic Model for Human Motion Prediction

Autorzy: Sariah Mghames, Luca Castri, Marc Hanheide, Nicola Bellotto
Opublikowane w: 2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 2024, Strona(/y) 57-62
Wydawca: IEEE
DOI: 10.1109/cis-ram61939.2024.10672815

THÖR-MAGNI Act: Actions for Human Motion Modeling in Robot-Shared Industrial Spaces

Autorzy: Almeida, Tiago; Schreiter, Tim; Rudenko, Andrey; Palmieri, Luigi; Stork, Johannes A.; Lilienthal, Achim J.
Opublikowane w: Publikationer från Örebro universitet, Numer 1, 2025
Wydawca: IEEE
DOI: 10.48550/arxiv.2412.13729

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

Autorzy: Pozo Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Sami Haddadin
Opublikowane w: 2022
Wydawca: The 2022 American Control Conference (ACC)

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

Autorzy: Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, Timo Ropinski
Opublikowane w: 2023
Wydawca: IEEE Winter Conference on Applications of Computer Vision (WACV)

Hierarchical System to Predict Human Motion and Intentions for Efficientand Safe Human-Robot Interaction in Industrial Environments

Autorzy: Andrey Rudenko, Yufei Zhu, Tiago Rodrigues de Almeida, Tim Schreiter, Luca Castri, Nicola Belotto, Narunas Vaskevicius, Luigi Palmieri, Martin Magnusson, Achim J Lilienthal
Opublikowane w: 2025
Wydawca: German Robotics Conference

Towards Long-term Autonomy: A Perspective from Robot Learning

Autorzy: Yan, Zhi; Sun, Li; Krajnik, Tomas; Duckett, Tom; Bellotto, Nicola
Opublikowane w: Numer 1, 2023
Wydawca: 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

Autorzy: Francesco Pasti and Nicola Bellotto
Opublikowane w: 2023
Wydawca: 18th International Conference on Computer Vision Theory and Applications (VISAPP)

Optimal electromyographic sensing for whole-body muscular activity estimation

Autorzy: Baracca, Marco; Averta, Giuseppe; Bianchi, Matteo
Opublikowane w: Numer 1, 2022
Wydawca: I-RIM
DOI: 10.5281/zenodo.7531397

Context-Aware Grasp Generation in Cluttered Scenes.

Autorzy: Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov
Opublikowane w: IEEE Robotics and Automation Letters, 2022
Wydawca: IEEE
DOI: 10.1109/icra46639.2022.9811371

Human Gaze and Head Rotation during Navigation, Exploration and Object Manipulation in Shared Environments with Robots

Autorzy: Tim Schreiter, Andrey Rudenko, Martin Magnusson, Achim J. Lilienthal
Opublikowane w: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Strona(/y) 1258-1265
Wydawca: IEEE
DOI: 10.1109/ro-man60168.2024.10731190

Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach

Autorzy: Dennis Ossadnik, Vasilije Rakčević, Mehmet C. Yildirim, Edmundo Pozo Fortunić, Hugo T. M. Kussaba, Abdalla Swikir, Sami Haddadin
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, Strona(/y) 11481-11487
Wydawca: IEEE
DOI: 10.1109/icra57147.2024.10610380

Plan it Safe: A Risk-Driven Motion Planning Framework for Collaborative Robots

Autorzy: Elena Stracca, Alessandro Palleschi, Lucia Pallottino, Paolo Salaris
Opublikowane w: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Strona(/y) 2885-2892
Wydawca: IEEE
DOI: 10.1109/case59546.2024.10711449

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Autorzy: Svarny, Petr and Hamad, Mazin and Kurdas, Alexander and Hoffmann, Matej and Abdolshah, Saeed and Haddadin, Sami
Opublikowane w: 2022
Wydawca: IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)

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

Autorzy: Birjandi, Seyed Ali Baradaran and Khurana, Harshit and Billard, Aude and Haddadin, Sami
Opublikowane w: 2023
Wydawca: IEEE

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

Autorzy: Yildirim, M.C. and Pisano, E. and Hamad, M. and Le Mesle, V. and Swikir, A. and Haddadin, S.
Opublikowane w: 2023
Wydawca: 2023 IEEE-RAS International Conference on Humanoid Robots

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

Autorzy: Simon Schaefer, Luigi Palmieri, Lukas Heuer, Rüdiger Dillmann, Sven Koenig, Alexander Kleiner
Opublikowane w: 2023
Wydawca: IEEE

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

Autorzy: Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Haddadin, Sami
Opublikowane w: 2022
Wydawca: IEEE/RSJ International Conference

An Information-aware Lyapunov-based MPC for autonomous robots

Autorzy: Napolitano, Olga; Pallottino, Lucia; Salaris, Paolo; Fontanelli, Daniele
Opublikowane w: Numer 1, 2022
Wydawca: I-RIM
DOI: 10.5281/zenodo.7531254

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

Autorzy: Yang, Shih-Min and Magnusson, Martin and Stork, Johannes Andreas and Stoyanov, Todor
Opublikowane w: 2023
Wydawca: IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation

Experimental Evaluation of ROS-Causal in Real-World Human-Robot Spatial Interaction Scenarios

Autorzy: Luca Castri, Gloria Beraldo, Sariah Mghames, Marc Hanheide, Nicola Bellotto
Opublikowane w: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, Strona(/y) 1603-1609
Wydawca: IEEE
DOI: 10.1109/ro-man60168.2024.10731290

Optimal manipulation patterns can drive the estimation of object mechanical properties

Autorzy: Bonifati, Paolo; Averta, Giuseppe; Salaris, Paolo; Bianchi, Matteo
Opublikowane w: Numer 1, 2023
Wydawca: I-RIM Conference
DOI: 10.5281/zenodo.10722502

Benchmarking Sampling-based Motion Planning Pipelines for Wheeled Mobile Robots

Autorzy: Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai Oliver Arras, Gaurav S. Sukhatme, and Sven Koenig
Opublikowane w: 2021
Wydawca: ICAPS

A Multivariate Functional Analysis of Inter-Hands Spatiotemporal Coordination in Human Bimanual Tasks and its Implications for Robotics

Autorzy: Marco Baracca, Andre Meixner, Giuseppe Averta, Paolo Salaris, Tamim Asfour, Matteo Bianchi
Opublikowane w: 2025 11th International Conference on Automation, Robotics, and Applications (ICARA), 2025, Strona(/y) 140-144
Wydawca: IEEE
DOI: 10.1109/icara64554.2025.10977603

A Solution to Adaptive Mobile Manipulator Throwing

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LaCE-LHMP: Airflow Modelling-Inspired Long-Term Human Motion Prediction By Enhancing Laminar Characteristics in Human Flow

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Alignability maps for ensuring high-precision localization

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Open3DSG: Open-Vocabulary 3D Scene Graphs from Point Clouds with Queryable Objects and Open-Set Relationships

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RelationField: Relate Anything in Radiance Fields

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Qualitative Prediction of Multi-Agent Spatial Interactions

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

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

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

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Cross-coupling stiffness for natural goal-directed robot motion

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Opublikowane w: 2023
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Learning Extrinsic Dexterity with Parameterized Manipulation Primitives

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

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Opublikowane w: 2022
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Throwing objects with collaborative manipulators using minimum-jerk trajectories

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Opublikowane w: Numer 1, 2023
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A Provably Stable Iterative Learning Controller for Continuum Soft Robots

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

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

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Trajectory Prediction for Heterogeneous Agents: A Performance Analysis on Small and Imbalanced Datasets

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Iterative Learning Control for Compliant Underactuated Arms

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

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Opublikowane w: IEEE Robotics and Automation Letters, 2023, ISSN 1350-911X
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High-Level Planning for Object Manipulation With Multi Heterogeneous Robots in Shared Environments

Autorzy: A. Palleschi, G. J. Pollayil, M. J. Pollayil, M. Garabini and L. Pallottino
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Crossing Point Estimation in Human/Robot Navigation - Statistical Linearization versus Sigma-Point-Transformation

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Opublikowane w: Engineering Applications of Artificial Intelligence - The International Journal of Intelligent Real-Time Automation, 2022, ISSN 0952-1976
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Efficient Context-Aware Model Predictive Control for Human-Aware Navigation

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

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

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Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

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Optimal Reconstruction of Human Motion From Scarce Multimodal Data

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Survey of maps of dynamics for mobile robots

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THÖR-MAGNI: A large-scale indoor motion capture recording of human movement and robot interaction

Autorzy: Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Andrey Rudenko, Luigi Palmieri, Tomasz P Kucner, Martin Magnusson, Achim J Lilienthal
Opublikowane w: The International Journal of Robotics Research, 2025, ISSN 0278-3649
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Dynamic Coupling for Underactuated Compliant Arms With Not Well-Defined Relative Degree

Autorzy: Michele Pierallini, Franco Angelini, Manolo Garabini
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Human-Flow-Aware Long-Term Mobile Robot Task Planning Based on Hierarchical Reinforcement Learning

Autorzy: Yuchen Liu, Luigi Palmieri, Ilche Georgievski, Marco Aiello
Opublikowane w: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
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A general approach for generating artificial human-like motions fromfunctional components of human upper limb movements

Autorzy: Marco Baracca a, Giuseppe Averta, Matteo Bianchi
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Learning to prevent grasp failure with soft hands: from on-lineprediction to dual-arm grasp recovery

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CAnDOIT: Causal Discovery with Observational and Interventional Data from Time Series

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

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Opublikowane w: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
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Active Sensing for Data Quality Improvement in Model Learning

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The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems

Autorzy: Salvatore D'Avella, Matteo Bianchi, Ashok M. Sundaram, Carlo Alberto Avizzano, Máximo A. Roa, Paolo Tripicchio
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Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach

Autorzy: Mansfeld, Nico and Keppler, Manuel and Sami Haddadin
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Learning With Few Examples the Semantic Description of Novel Human-Inspired Grasp Strategies From RGB Data

Autorzy: L. Collodi, D. Bacciu, M. Bianchi and G. Averta
Opublikowane w: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
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Optimal Control for Articulated Soft Robots

Autorzy: Chhatoi, Saroj Prasad and Pierallini, Michele and Angelini, Franco and Mastalli, Carlos and Garabini, Manolo
Opublikowane w: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
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Voting and Attention-based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds

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Receding Horizon Re-Ordering of Multi-Agent Execution Schedules

Autorzy: Alexander Berndt, Niels van Duijkeren, Luigi Palmieri, Alexander Kleiner, Tamás Keviczky
Opublikowane w: IEEE Transactions on Robotics, Numer 40, 2024, Strona(/y) 1356-1372, ISSN 1552-3098
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Tube Acceleration: Robust Dexterous Throwing Against Release Uncertainty

Autorzy: Yang Liu, Aude Billard
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A Novel Formulation for Adaptive Computed Torque Control Enabling Low Feedback Gains in Highly Dynamical Tasks

Autorzy: Giorgio Simonini, Marco Baracca, Tommaso V. Cavaliere, Antonio Bicchi, Paolo Salaris
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Active Sensing Control for Differentially Flat Systems

Autorzy: Olga Napolitano, Annamaria Pinizzotto, Matteo Verdecchia, Alessio Pettinari, Daniela Selvi, Lucia Pallottino, Paolo Salaris
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Scheduling autonomous robots for an intralogistic application: A comparison of lookahead-based ADP strategies

Autorzy: Margherita Battistotti, Paolo Brandimarte, Francesca Giancola, Nicolò Mazzi
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Benchmarking the utility of Maps of Dynamics for Human-aware Motion Planning

Autorzy: Chittaranjan Swaminathan, Tomasz Piotr Kucner, Anna Mannucci, Martin Magnusson, Luigi Palmieri, Sergi Molina, Federico Pecora, and Achim J. Lilienthal.
Opublikowane w: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
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Context-aware human behavior prediction using multimodal large language models: Challenges and insights

Autorzy: Yuchen Liu, Lino Lerch, Luigi Palmieri, Andrey Rudenko, Sebastian Koch, Timo Ropinski and Marco Aiello,
Opublikowane w: 2025
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Bidirectional Intent Communication: A Role for Large Foundation Models

Autorzy: Tim Schreiter, Rishi Hazra, Jens Rüppel, Andrey Rudenko
Opublikowane w: 2024
Wydawca: IEEE

Delta: Decomposed efficient long-term robot task planning using large language models

Autorzy: Yuchen Liu, Luigi Palmieri, Sebastian Koch, Ilche Georgievski and Marco Aiello
Opublikowane w: 2025
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GraphEQA: Using 3D Semantic Scene Graphs for Real-time Embodied Question Answering.

Autorzy: Saumya Saxena, Blake Buchanan, Chris Paxton, Bingqing Chen, Narunas Vaskevicius, Luigi Palmieri, Jonathan Francis, and Oliver Kroemer
Opublikowane w: 2024
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Large-scale visual SLAM for in-the-wild videos

Autorzy: Shuo Sun, Torsten Sattler, Malcolm Mielle, Achim J. Lilienthal, Martin Magnusson
Opublikowane w: 2025
Wydawca: ArXiv Preprint
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Multimodal Interaction and Intention Communication for Industrial Robots

Autorzy: Tim Schreiter, Andrey Rudenko, Jens V. Rüppel, Martin Magnusson, Achim J. Lilienthal
Opublikowane w: 2025
Wydawca: German Robotics Conference (GRC)

Collecting Human Motion Data in Large and Occlusion-Prone Environments using Ultra-Wideband Localization

Autorzy: Janik Kaden, Maximilian Hilger, Tim Schreiter, Marius Schaab, Thomas Graichen, Andrey Rudenko, Ulrich Heinkel, Achim J. Lilienthal
Opublikowane w: 2025
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ROS-Causal: A ROS-based Causal Analysis Framework for Human-Robot Interaction Applications

Autorzy: Luca Castri, Gloria Beraldo, Sariah Mghames, Marc Hanheide, and Nicola Bellotto
Opublikowane w: 2024
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UPTor: Unified 3D Human Pose Dynamics and Trajectory Prediction for Human-Robot Interaction

Autorzy: N Nilavadi, A Rudenko, T Linder
Opublikowane w: 2025
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DARKO-Nav: Hierarchical Risk and Context-Aware Robot Navigation in Complex Intralogistic Environments

Autorzy: Elena Stracca, Andrey Rudenko, Luigi Palmieri, Paolo Salaris, Luca Castri, Nicolò Mazzi, Vasilije Rakcevic, Narunas Vaskevicius, Timm Linder, Nicola Bellotto, Tim Schreiter, Yufei Zhu, Manuel Castellano Quero, Olga Napolitano, Elisa Stefanini, Lukas Heuer, Martin Magnusson, Abdalla Swikir, Achim J. Lilienthal
Opublikowane w: Springer Proceedings in Advanced Robotics, European Robotics Forum 2025, 2025, Strona(/y) 155-161
Wydawca: Springer Nature Switzerland
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