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Robust Mobility and Dexterous Manipulation in Disaster Response by Fullbody Telepresence in a Centaur-like Robot

Deliverables

CENTAURO manipulation concept

Report summarizing the concept for single and dualarmed object manipulation with the CENTAURO robot

First CENTAURO system evaluation

Report summarizing the results of the evaluation of the first integrated CENTAURO disasterresponse system

Design concept of operator interfaces

Report summarizing the design concept for the operator interfaces to teleoperate the CENTAURO robot

Autonomous dual-arm pick and place manipulation skills

Report summarizing the methods realized for autonomous dualarm pick and place manipulation skills

Walking navigation

Report summarizing the realized methods for walking navigation of the CENTAURO robot on rough terrain

CENTAURO navigation concept

Report on the concept for hybrid wheeledlegged navigation of the CENTAURO robot in rough terrain

Driving navigation

Report summarizing the realized methods for driving navigation of the CENTAURO robot in rough terrain

Final CENTAURO system evaluation

Report summarizing the results of the evaluation of the final integrated CENTAURO disasterresponse system

Core component evaluation

Report on the results of the evaluation of the CENTAURO core components

Object and workspace perception

Report summarizing the realized methods for perception of the manipulation workspace of the CENTAURO robot including object detection and tracking

Design concept of CENTAURO robot

The report summarizes the design concept of the CENTAURO robot platformThis will be the basis for the critical design review and the platfom development

Autonomous single-arm pick and place manipulation skills

Report summarizing the methods realized for autonomous singlearm pick and place manipulation skills

CENTAURO evaluation concept

Report summarizing the concept for evaluation of core components and the integrated CENTAURO disasterresponse system This includes an assessment of health and safety issues relating to testing and how they are dealt with as well as informed consent procedures to be established for evaluation participants like the main operator along with sample information sheets and consent forms

Virtual Testbed concept

Report summarizing the concept for the Virtual Testbed of the CENTAURO robot

Switching between direct control and prediction mode

Report on methods realized for switching between direct control and prediction mode of the CENTAURO robot

Balance and wheeled locomotion control strategies

Report summarizing the balance and wheeled locomotion strategies of the CENTAURO robot platform

Terrain classification

Report on the realized methods for terrain classification

Legged locomotion control strategies

Report summarizing the control strategies for legged locomotion of the CENTAURO robot

CENTAURO integration concept

Report summarizing the integration concept for the CENTAURO disasterresponse system

Predictive robot-environment model

Report on the realization of a predictive robotenvironment model instantiated from robot percepts for the prediction of the effect of the robot actions

Final integrated CENTAURO system

Final version of the integrated CENTAURO disasterresponse system including a report on its construction and interfaces

First version of operator interface core components

First version of operator interface core components for the teleoperation of the CENTAURO robot including a report on their construction and interfaces

First integrated CENTAURO system

First version of the integrated CENTAURO disasterresponse system including a report on its construction and interfaces

Final version of control station

Final version of the control station for teleoperation of the CENTAURO robot including a report on its construction and interfaces

Protoype of upper body of CENTAURO robot

Prototype of the CENTAURO robot upper body including a report describing its construction and interfaces

Operator interface control, first version of control station

Implementation of operator interface control methods First version of control station for teleoperation of the CENTAURO robot including a reports on its construction and interfaces

First protoype of CENTAURO robot

First prototype of the CENTAURO robot including a report describing its construction and interfaces

Final version of CENTAURO robot

Final version of the CENTAURO robot inclusding a report describing its construction and interfaces

Simulation of CENTAURO robot and environment

Realization of the simulation of the CENTAURO robot and its environment as a Virtual Testbed for the robot

Communication link

Realization of the communication link between the operator station and the CENTAURO robot including a report on its construction and interfaces

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Publications

Deep Reinforcement Learning to Acquire Navigation Skills for Wheel-Legged Robots in Complex Environments

Author(s): Xi Chen, Ali Ghadirzadeh, John Folkesson and Patric Jensfelt
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE/RSJ

Geometric and visual terrain classification for autonomous mobile navigation

Author(s): F. Schilling, X. Chen, J. Folkesson and P. Jensfelt
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
Publisher: IEEE/RSJ

MRSLaserMap: Local Multiresolution Grids for Efficient 3D Laser Mapping and Localization

Author(s): David Droeschel and Sven Behnke
Published in: In Proceedings of 20th RoboCup International Symposium, July 2016, 2016
Publisher: Springer, LNCS

Semi-autonomous Concurrent Driving-Stepping Locomotion

Author(s): Max Schwarz and Sven Behnke
Published in: LBR Abstract at IEEE International Conference on Robotics and Automation (ICRA), May 2015, 2015
Publisher: IEEE

Intuitive Bimanual Telemanipulation under Communication Restrictions by Immersive 3D Visualization and Motion Tracking

Author(s): Tobias Rodehutskors, Max Schwarz, and Sven Behnke
Published in: Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2015, 2015
Publisher: IEEE-RAS

Practical applications of simulation-based control

Author(s): Juergen Rossmann, Magdalena Dimartino, Marc Priggemeyer, Ralf Waspe
Published in: 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016, Page(s) 1376-1381, ISBN 978-1-5090-2065-2
Publisher: IEEE
DOI: 10.1109/AIM.2016.7576962

Towards a 3D simulation-based operator interface for teleoperated robots in disaster scenarios

Author(s): Torben Cichon, Christian Schlette, Jürgen Rossmann
Published in: 2016 IEEE International Symposium on Safety, Security and Rescue Robotics, 2016, ISBN 978-1-5090-4349-1
Publisher: IEEE Xplore

Connecting the areas of eLearning, virtual training and engineering in multidisciplinary eRobotics applications

Author(s): Nico Hempe, Jurgen Rossmann
Published in: 2016 Future Technologies Conference (FTC), 2016, Page(s) 367-374, ISBN 978-1-5090-4171-8
Publisher: IEEE
DOI: 10.1109/FTC.2016.7821636

Image Alignment for Panorama Stitching in Sparsely Structured Environments

Author(s): Giulia Meneghetti, Martin Danelljan, Michael Felsberg, Klas Nordberg
Published in: Scandinavian Conference on Image Analysis, June 2015, 2015, Page(s) 428-439
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-19665-7_36

Modelling and Simulation of a Laser Scanner with Adjustable Pattern as Virtual Prototype for Future Space Missions

Author(s): Markus Emde, Jurgen Rossmann
Published in: 2015 3rd International Conference on Artificial Intelligence, Modelling and Simulation (AIMS), 2015, Page(s) 191-196, ISBN 978-1-4673-8675-3
Publisher: IEEE
DOI: 10.1109/AIMS.2015.83

Hybrid Driving-Stepping Locomotion with the Wheeled-legged Robot Momaro

Author(s): Max Schwarz, Tobias Rodehutskors, Michael Schreiber, and Sven Behnke
Published in: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), May 2016, 2016, Page(s) 5589-5595
Publisher: IEEE

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain

Author(s): Max Schwarz, Sebastian Schüller, Christian Lenz, David Droeschel, and Sven Behnke
Published in: 2016 IEEE 14th International Conference on Intelligent Autonomous Systems (IAS), 2016
Publisher: IEEE

Semantic Segmentation Priors for Object Discovery

Author(s): German Martin Garcia, Farzad Husain, Hannes Schulz, Simone Frintrop, Carme Torras, and Sven Behnke
Published in: 23rd International Conference on Pattern Recognition (ICPR), December 2016, 2016
Publisher: IEEE

Online payload estimation for a floating-base legged robot

Author(s): Arturo Laurenzi, Navvab Kashiri, Nikos G. Tsagarakis, Darwin G. Caldwell
Published in: 9th International Workshop on Human-Friendly Robotics, 2016
Publisher: wordpress

A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft Robotics Systems: Application to CENTAURO Robot

Author(s): Malgorzata Kamedula, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
Published in: 2016
Publisher: scitepress

Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg

Author(s): Navvab Kashiri , Arash Ajoudani , Darwin G. Caldwell, Nikos G. Tsagarakis
Published in: 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016
Publisher: scitepress

Online depth calibration for RGB-D cameras using visual SLAM

Author(s): Jan Quenzel, Radu Alexandru Rosu, Sebastian Houben, Sven Behnke
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 2227-2234, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206043

Transferring Grasping Skills to Novel Instances by Latent Space Non-Rigid Registration

Author(s): Diego Rodriguez, Corbin Cogswell, Seongyong Koo, Sven Behnke
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-8, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8461169

Planning Hybrid Driving-Stepping Locomotion on Multiple Levels of Abstraction

Author(s): Tobias Klamt, Sven Behnke
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1695-1702, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8461054

Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping

Author(s): David Droeschel, Sven Behnke
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-9, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8461000

Efficient stochastic multicriteria arm trajectory optimization

Author(s): Dmytro Pavlichenko, Sven Behnke
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4018-4025, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206256

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Author(s): Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, Sven Behnke
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 3347-3354, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8461195

Anytime hybrid driving-stepping locomotion planning

Author(s): Tobias Klamt, Sven Behnke
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4444-4451, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206310

Development of Gazebo-ROS Simulator for a Centaur Robot Powered by Compliant Joint Actuators

Author(s): Malgorzata Kamedula, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
Published in: 9th International Workshop on Human-Friendly Robotics, 2016
Publisher: wordpress

Keyframe-based Photometric Online Calibration and Color Correction

Author(s): Jan Quenzel, Jannis Horn, Sebastian Houben, Sven Behnke
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot

Author(s): Tobias Klamt, Diego Rodriguez, Max Schwarz, Christian Lenz, Dmytro Pavlichenko, David Droeschel, Sven Behnke
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks

Author(s): Arul Selvam Periyasamy, Max Schwarz, Sven Behnke
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Orientation planning in task space using quaternion polynomials

Author(s): Mohammad Shahbazi, Navvab Kashiri, Darwin Caldwell, Nikolaos Tsagarakis
Published in: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017, Page(s) 2343-2348, ISBN 978-1-5386-3742-5
Publisher: IEEE
DOI: 10.1109/ROBIO.2017.8324769

What is the torque bandwidth of this actuator?

Author(s): Jorn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos Tsagarakis, Darwin Caldwell
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4762-4768, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206351

Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization

Author(s): Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis, Darwin G. Caldwell
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 309-315, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8462877

Inverse dynamics control of bimanual object manipulation using orthogonal decomposition: An analytic approach

Author(s): Mohammad Shahbazi, Jinoh Lee, Darwin Caldwell, Nikolaos Tsagarakis
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4791-4796, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206354

Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework

Author(s): Giuseppe Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos Tsagarakis
Published in: 2018 Second IEEE International Conference on Robotic Computing (IRC), 2018, Page(s) 175-176, ISBN 978-1-5386-4652-6
Publisher: IEEE
DOI: 10.1109/IRC.2018.00036

Development of a human size and strength compliant bi-manual platform for realistic heavy manipulation tasks

Author(s): Lorenzo Baccelliere, Navvab Kashiri, Luca Muratore, Arturo Laurenzi, Malgorzata Kamedula, Alessio Margan, Stefano Cordasco, Jorn Malzahn, Nikos G. Tsagarakis
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 5594-5601, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206447

HERI hand: A quasi dexterous and powerful hand with asymmetrical finger dimensions and under actuation

Author(s): Zeyu Ren, Chengxu Zhou, Songyan Xin, Nikos Tsagarakis
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 322-328, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202175

HERI II: A Robust and Flexible Robotic Hand Based on Modular Finger Design and Under Actuation Principles

Author(s): Zeyu Ren, Navvab Kashiri, Chengxu Zhou, Nikos G. Tsagarakis
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

On the Kinematics of Wheeled Motion Control of a Hybrid Wheeled-Legged CENTAURO Robot

Author(s): Malgorzata Kamedula, Navvab Kashiri, Nikos G. Tsagarakis
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Quadrupedal Walking Motion and Footstep Placement through Linear Model Predictive Control

Author(s): Arturo Laurenzi, Enrico Mingo Hoffman, nikos G. Tsagarakis
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm

Author(s): Cheng Fang, Giuseppe F. Rigano, Navvab Kashiri, Arash Ajoudani, Jinoh Lee, Nikos G. Tsagarakis
Published in: 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2018
Publisher: IEEE

On the Orientation Planning with Constrained Angular Velocity and Acceleration at Endpoints

Author(s): Mohammad Shahbazi Aghbelagh, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

XBotCloud: A Scalable Cloud Computing Infrastructure for XBot Powered Robots

Author(s): Luca Muratore, Barry Lennox, Nikos G. Tsagarakis
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles

Author(s): Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-5, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/ICRA.2018.8460559

Enhanced Explosive Motion for Torque Controlled Actuators through Field Weakening Control

Author(s): Wesley Roozing, NavvabKashiri, Nikos G. Tsagarakis
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE

Deep Projective 3D Semantic Segmentation

Author(s): Felix Järemo Lawin, Martin Danelljan, Patrik Tosteberg, Goutam Bhat, Fahad Shahbaz Khan, Michael Felsberg
Published in: 2017 International Conference on Computer Analysis of Images and Patterns, 2017, Page(s) 95-107
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-64689-3_8

Robust Accurate Extrinsic Calibration of Static Non-overlapping Cameras

Author(s): Andreas Robinson, Mikael Persson, Michael Felsberg
Published in: 2017 International Conference on Computer Analysis of Images and Patterns, 2017, Page(s) 342-353
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-64698-5_29

Density Adaptive Point Set Registration

Author(s): Felix Järemo Lawin, Martin Danelljan, Fahad Khan, Per-Erik Forssén, Michael Felsberg
Published in: 2018 IEEE Conference on Computer Vision and Pattern Recognition, 2018
Publisher: IEEE

Simulation-based User Interfaces for Digital Twins: Pre-, In-, or Post-Operational Analysis and Exploration of Virtual Testbeds

Author(s): Torben Cichon and Jürgen Rossmann
Published in: The 31st European Simulation and Modelling Conference (ESM) - Modelling and Simulation, 2017, Page(s) 384-389
Publisher: EUROSIS-ETI

Robotic teleoperation: Mediated and supported by virtual testbeds

Author(s): Torben Cichon, Jurgen Rosmann
Published in: 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2017, Page(s) 55-60, ISBN 978-1-5386-3923-8
Publisher: IEEE
DOI: 10.1109/SSRR.2017.8088140

Learning Postural Synergies for Categorical Grasping through Shape Space Registration

Author(s): Diego Rodriguez, Antonio Di Guardo, Antonio Frisoli, Sven Behnke
Published in: 2018 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2018
Publisher: IEEE-RAS

Autonomous Dual-Arm Manipulation of Familiar Objects

Author(s): Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, Sven Behnke
Published in: 2018 IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2018
Publisher: IEEE-RAS

Towards Learning Abstract Representations for Locomotion Planning in High-dimensional State Spaces

Author(s): Tobias Klamt, Sven Behnke
Published in: Accepted for 2019 IEEE International Conference on Robotics and Automation (ICRA), 2019
Publisher: IEEE

Bilateral Rehabilitation of Hand Grasping with an Underactuated Hand Exoskeleton

Author(s): M. Sarac, D. Leonardis, M. Gabardi, M. Solazzi, A. Frisoli
Published in: 2018 International Conference on NeuroRehabilitation (ICNR), 2018
Publisher: Springer

Sensitivity Analysis and Identification of Human Parameters for an Adaptive, Underactuated Hand Exoskeleton

Author(s): A. Di Guardo, M. Sarac, M. Gabardi, D. Leonardis, M. Solazzi, A. Frisoli
Published in: 2018 16th International Symposium on Advances in Robot Kinematics (ARK), 2018
Publisher: Springer

An Improved Adaptive Robotic Assistance Methodology for Upper-Limb Rehabilitation

Author(s): F. Stroppa, C. Loconsole, S. Marcheschi, N. Mastronicola, A. Frisoli
Published in: 2018 International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (Eurohaptics), 2018
Publisher: Springer

Teleoperated Bilateral-Arm Rehabilitation with ALEx Rehab Station

Author(s): M. Barsotti, F. Stroppa, N. Mastronicola, S. Marcheschi, A. Frisoli
Published in: 2018 International Conference on NeuroRehabilitation (ICNR), 2018
Publisher: Springer

Object Detection Approach for Robot Grasp Detection

Author(s): Hakan Karaoguz, Patric Jensfelt
Published in: Accepted for 2019 IEEE International Conference on Robotics and Automation (ICRA), 2019
Publisher: IEEE

Knowledge is Never Enough: Towards Web Aided Open World Recognition

Author(s): Massimiliano Mancini, Hakan Karaoguz, Elisa Ricci, Patric Jensfelt, Barbara Caputo
Published in: Accepted for 2019 IEEE International Conference on Robotics and Automation (ICRA), 2019
Publisher: IEEE

Lambda Twist: An Accurate Fast Robust Perspective Three Point (P3P) Solver

Author(s): Mikael Persson, Klas Nordberg
Published in: 2018 European Conference on Computer Vision (ECCV), 2018
Publisher: Springer

Computing a Collision-Free Path Using the Monogenic Scale Space

Author(s): Karl Holmquist, Deniz Senel, Michael Felsberg
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
Publisher: IEEE/RSJ

Digital Twins: Assisting and Supporting Cooperation in Human-Robot Teams

Author(s): Torben Cichon, Jurgen Robmann
Published in: 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2018, Page(s) 486-491, ISBN 978-1-5386-9582-1
Publisher: IEEE
DOI: 10.1109/icarcv.2018.8580634

A neuromusculoskeletal model of the human upper limb for a myoelectric exoskeleton control using a reduced number of muscles

Author(s): Domenico Buongiorno, Michele Barsotti, Edoardo Sotgiu, Claudio Loconsole, Massimiliano Solazzi, Vitoantonio Bevilacqua, Antonio Frisoli
Published in: World Haptics Conference (WHC), 2015/6/22, 2015, Page(s) 273-279
Publisher: IEEE

Combining an exoskeleton with 3D simulation in-the-loop

Author(s): Torben Cichon, Claudio Loconsole, Domenico Buongiorno, Massimiliano Solazzi, Christian Schlette, Antonio Frisoli, Jürgen Rossmann
Published in: 9th International Workshop on Human-Friendly Robotics, 2016, Page(s) 2016/9/29-30
Publisher: WordPress

A Linear Optimization Procedure for an EMG-driven NeuroMusculoSkeletal Model Parameters Adjusting: Validation Through a Myoelectric Exoskeleton Control

Author(s): Domenico Buongiorno, Francesco Barone, Massimiliano Solazzi, Vitoantonio Bevilacqua, Antonio Frisoli
Published in: International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (EuroHaptics), 2016, Page(s) 218-227
Publisher: Springer International Publishing

A Probabilistic Framework for Color-Based Point Set Registration

Author(s): Danelljan, Martin and Meneghetti, Giulia and Khan, Fahad Shahbaz and Felsberg, Michael
Published in: Conference on Computer Vision and Pattern Recognition (CVPR), 2016, Page(s) 1063-6919
Publisher: IEEE

Deep Semantic Pyramids for Human Attributes and Action Recognition

Author(s): Khan, Fahad Shahbaz and Rao, Muhammad Anwer and van de Weijer, Joost and Felsberg, Michael
Published in: Image Analysis: 19th Scandinavian Conference (SCIA), June 2015, 2015, Page(s) 341-353, ISSN 0302-9743
Publisher: Springer LNCS

Efficient Multi-Frequency Phase Unwrapping using Kernel Density Estimation

Author(s): Felix Järemo Lawin and Per-Erik Forsséen and Hannes Ovrén
Published in: 2016 European Conference on Computer Vision (ECCV), 2016
Publisher: Springer LNCS

Aligning the Dissimilar: A Probabilistic Method for Feature-Based Point Set Registration

Author(s): Danelljan, Martin and Meneghetti, Giulia and Khan, Fahad Shahbaz and Felsberg, Michael
Published in: 23rd International Conference on Pattern Recognitio (ICPR), 2016
Publisher: IEEE

Beyond Correlation Filters: Learning Continuous Convolution Operators for Visual Tracking & Accepted contribution

Author(s): Danelljan, Martin and Robinson, Andreas and Khan, Fahad Shahbaz and Felsberg, Michael
Published in: European Conference on Computer Vision (ECCV), 2016
Publisher: Springer LNCS

Coloring Channel Representations for Visual Tracking

Author(s): Danelljan, Martin and Häger, Gustav and Khan, Fahad Shahbaz and Felsberg, Michael
Published in: Image Analysis: 19th Scandinavian Conference (SCIA), June 2015, 2015, Page(s) 117-129, ISSN 0302-9743
Publisher: Springer LNCS

Deep Motion Features for Visual Tracking

Author(s): Gladh, Susanna and Danelljan, Martin and Khan, Fahad Shahbaz and Felsberg, Michael
Published in: 23rd International Conference on Pattern Recognitio (ICPR), 2016
Publisher: IEEE

Simulation-Based Control and Simulation-Based Support in eRobotics Applications

Author(s): Torben Cichon, Marc Priggemeyer, Jürgen Rossmann
Published in: Applied Mechanics and Materials, 840, 2016, Page(s) 74-81, ISSN 1662-7482
Publisher: Trans Tech Publications
DOI: 10.4028/www.scientific.net/AMM.840.74

Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

Author(s): "Max Schwarz, Marius Beul, David Droeschel, Sebastian Sch\""uller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke"
Published in: Frontiers in Robotics and AI, 2016, 2016, ISSN 2296-9144
Publisher: Frontiers

NimbRo Rescue: Solving Disaster-response Tasks with the Mobile Manipulation Robot Momaro

Author(s): Max Schwarz, Tobias Rodehutskors, David Droeschel, Marius Beul, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Christian Lenz, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, Sven Behnke
Published in: Journal of Field Robotics, 34/2, 2017, Page(s) 400-425, ISSN 1556-4959
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/rob.21677

Combining Semantic and Geometric Features for Object Class Segmentation of Indoor Scenes

Author(s): Farzad Husain, Hannes Schulz, Babette Dellen, Carme Torras, Sven Behnke
Published in: IEEE Robotics and Automation Letters, 2/1, 2017, Page(s) 49-55, ISSN 2377-3766
Publisher: IEEE Journals & Magazines
DOI: 10.1109/LRA.2016.2532927

Continuous mapping and localization for autonomous navigation in rough terrain using a 3D laser scanner

Author(s): David Droeschel, Max Schwarz, Sven Behnke
Published in: Robotics and Autonomous Systems, 88, 2017, Page(s) 104-115, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2016.10.017

Transferring Category-Based Functional Grasping Skills by Latent Space Non-Rigid Registration

Author(s): Diego Rodriguez, Sven Behnke
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2662-2669, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2826057

RGB-D object detection and semantic segmentation for autonomous manipulation in clutter

Author(s): Max Schwarz, Anton Milan, Arul Selvam Periyasamy, Sven Behnke
Published in: The International Journal of Robotics Research, 37/4-5, 2017, Page(s) 437-451, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364917713117

Residual-Based External Torque Estimation in Series Elastic Actuators Over a Wide Stiffness Range: Frequency Domain Approach

Author(s): Jinoh Lee, Chan Lee, Nikolaos Tsagarakis, Sehoon Oh
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 1442-1449, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2800128

Rendering Strategies for Underactuated Hand Exoskeletons

Author(s): Mine Sarac, Massimiliano Solazzi, Miguel A. Otaduy, Antonio Frisoli
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2087-2092, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2809916

Design and Evaluation of a Novel 5 DoF Underactuated Thumb-Exoskeleton

Author(s): Massimiliano Gabardi, Massimiliano Solazzi, Daniele Leonardis, Antonio Frisoli
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2322-2329, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2807580

WRES: A Novel 3 DoF WRist ExoSkeleton With Tendon-Driven Differential Transmission for Neuro-Rehabilitation and Teleoperation

Author(s): Domenico Buongiorno, Edoardo Sotgiu, Daniele Leonardis, Simone Marcheschi, Massimiliano Solazzi, Antonio Frisoli
Published in: IEEE Robotics and Automation Letters, 3/3, 2018, Page(s) 2152-2159, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2810943

Multi-DoFs Exoskeleton-Based Bilateral Teleoperation with the Time-Domain Passivity Approach

Author(s): Domenico Buongiorno, Domenico Chiaradia, Simone Marcheschi, Massimiliano Solazzi, Antonio Frisoli
Published in: Robotica, 2018, Page(s) 1-22, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/s0263574719000171

On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder Based Principles

Author(s): Navvab Kashiri, Jorn Malzahn, Nikos G. Tsagarakis
Published in: Robotics and Automation Letters / ICRA (Conditionally Accepted), 2017
Publisher: IEEE

XBotCore: A Real-Time Cross-Robot Software Platform

Author(s): Luca Muratore, Arturo Laurenzi, Alessio Rocchi, Enrico Mingo Hoffman, Darwin G. Caldwell and Nikos G. Tsagarakis
Published in: First IEEE International Conference on Robotic Computing (Under Review), 2017
Publisher: IEEE

Remote Mobile Manipulation through a Centaur-like Robot: Full-body Telepresence and Autonomous Operator Assistance

Author(s): Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Bacceliere, Domenico Buongiorno, Torben Cichon, Antonio Di Guardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul Selvam Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G.
Published in: Submitted to Journal of Field Robotics - Special Issue on Space Robotics, Accepted with minor revision, 2019
Publisher: John Wiley and Sons

Value Iteration Networks on Multiple Levels of Abstraction

Author(s): Daniel Schleich, Tobias Klamt, Sven Behnke
Published in: Submitted to 2019 Robotics: Science and Systems (RSS), under review, 2019
Publisher: RSS

DRC Team NimbRo Rescue: Perception and Control for Centaur-Like Mobile Manipulation Robot Momaro

Author(s): Max Schwarz, Marius Beul, David Droeschel, Tobias Klamt, Christian Lenz, Dmytro Pavlichenko, Tobias Rodehutskors, Michael Schreiber, Nikita Araslanov, Ivan Ivanov, Jan Razlaw, Sebastian Schüller, David Schwarz, Angeliki Topalidou-Kyniazopoulou, Sven Behnke
Published in: The Darpa Robotics Challenge Finals: Humanoid Robots To The RescueEdition: Springer Tracts in Advanced Robotics (STAR), 121, 2018, Page(s) 145-190
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-74666-1_5

Probabilistic and Biologically Inspired Feature Representations

Author(s): Michael Felsberg
Published in: 2018
Publisher: Morgan & Claypool