CORDIS - Résultats de la recherche de l’UE
CORDIS

Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration

Livrables

Scenario 1 report and updates - 1

This deliverable is a scientific paper or report and updates on the ANDY achievements in the first validation scenario which concerns human-cobot physical collaboration.

Scenario 3 report and updates - 1

This deliverable is a scientific paper or report and updates on the ANDY achievements in the third validation scenario which concerns human-humanoid physical collaboration.

Scenario 3 report and updates - 2

This deliverable is a scientific paper or report and updates on the ANDY achievements in the third validation scenario which concerns humanhumanoid physical collaboration

Scenario 1 report and updates - 2

This deliverable is a scientific paper or report and updates on the ANDY achievements in the first validation scenario which concerns humancobot physical collaboration

ANDYDATASET publication

This deliverable is about the release of the ANDYDATASET, a dataset of human motions and force captured movements. The deliverable will also include a scientific paper associated to the dataset to be submitted to relevant publications. The ANDYDATASET at this stage will mainly contain those whole-body interactive and collaborative motions that are relevant to the prosecution of the project. It will contain human-human collaborative tasks (e.g. assisted walking, collaborative assembly) and relevant human movements (e.g. walking, drilling, overhead working). Precise details of the ANDYDATASET will be defined in T2.1. Possibly, the ANDYDATASET will contain data from the end-users advisory board members which might not be public according to what will be defined in the Data Management Plan (see D7.1).

Predictive control

This deliverable is a scientific report or paper about the theoretical foundation of controlling collaboration when anticipation of partner related quantities is necessary to complete the collaborative task

ANDYMODEL: advanced classification & predictive models - 1

This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET using deep gated neural networks T34 capable of 1 autonoumous feature extraction 2 simultaneously performing classification and regression 3 virtual sensing ie predicting sensor values which are available offline during training but not online during execution

ANDYMODEL: advanced classification & predictive models - 2

This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET using deep gated neural networks T34 capable of 1 autonoumous feature extraction 2 simultaneously performing classification and regression 3 virtual sensing ie predicting sensor values which are available offline during training but not online during execution

Switching control

This deliverable is a scientific report or paper about the theoretical foundation of switching control

Ergonomic control

This deliverable is a scientific report or paper about the theoretical foundation of ergonomic control.

Dissemination periodic reports - 3

Dissemination periodic reports M18 M36 M48

Reactive control

This deliverable is a scientific report or paper about the theoretical foundation of partner-aware reactive control.

ANDYSUIT & updates - 3

This is either a scientific paper or report about the first prototype of the suit At month 12 force and motion estimations will be based on wearable motion tracking system 155 with wearable force platforms 156 145 At month 24 estimations will be based on sensor fusion techniques on accelerometers gyroscopes magnetometers force and torque sensors At month 36 estimation will include EMG as well as tactile sensing 95 integrated in the footsoles and if necessary at other possible contact points eg hands

Dissemination periodic reports - 1

Dissemination periodic reports (M18, M36, M48).

ANDYDATASET specification

This deliverable concerns the ANDYDATASET specifications as defined in T2.1. It will consists of a technical report containing specifications such as: adopted standards for sensor positioning (e.g. motion capture markers), sensor modalities, acquired biometric data, considered interactive and collaborative motions.

Dissemination periodic reports - 2

Dissemination periodic reports M18 M36 M48

ANDYMODEL: ergonomic models

This deliverable is mainly related to T3.2 and it is a scientific report or paper on ergonomic models for real-time ergonomic assessment. Models will be suitable for: controlling robot behavior for ergonomically optimal collaborative conditions; providing alerts to the human operator, whenever certain risk limits are being exceeded.

Specifications for the ANDYSUIT

This deliverable is about the release of a tentative data-sheet describing the quantitative specifications of the ANDYSUIT (i.e. desiderata). Specifications will primarily consider the goals to be achieved in the following stages (see in particular WP4 and WP5). This deliverable will also contain a compendium with specifications from the end-users advisory board.

ANDYMODEL: baseline classification & regression models - 1

This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET, using machine learning algorithms such as SVM, HMM, GPR and LWPR. These models will be capable of: (1) classifying human motion based on measurements from the ANDYSUIT (T3.3); (2) predict future quantities (e.g. joint torques, body motion) based on current available measurements (T3.3).

ANDYSUIT & updates - 2

This is either a scientific paper or report about the first prototype of the suit At month 12 force and motion estimations will be based on wearable motion tracking system 155 with wearable force platforms 156 145 At month 24 estimations will be based on sensor fusion techniques on accelerometers gyroscopes magnetometers force and torque sensors At month 36 estimation will include EMG as well as tactile sensing 95 integrated in the footsoles and if necessary at other possible contact points eg hands

ANDYSUIT & updates - 1

This is either a scientific paper or report about the first prototype of the suit. At month 12, force and motion estimations will be based on wearable motion tracking system [155] with wearable force platforms [156, 145]. At month 24, estimations will be based on sensor fusion techniques on accelerometers, gyroscopes, magnetometers, force and torque sensors. At month 36, estimation will include EMG, as well as tactile sensing [95] integrated in the foot-soles and, if necessary, at other possible contact points (e.g. hands).

Data management plan - 2

The plan for the management of data with specific focus on the ANDYDATASET Data Management Plan M6 and updates M25 M40

Data management plan - 1

The plan for the management of data, with specific focus on the ANDYDATASET. Data Management Plan (M6) and updates (M25, M40).

Data management plan - 3

The plan for the management of data with specific focus on the ANDYDATASET Data Management Plan M6 and updates M25 M40

Website and software repository online

Publication of the ANDY website with feeds from relevant social networks.

Publications

Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations

Auteurs: Nori, Francesco
Publié dans: Numéro 2, 2017
Éditeur: IEEE

Black-Box Data-efficient Policy Search for Robotics

Auteurs: Chatzilygeroudis, Konstantinos; Rama, Roberto; Kaushik, Rituraj; Goepp, Dorian; Vassiliades, Vassilis; Mouret, Jean-Baptiste
Publié dans: https://hal.inria.fr/hal-01576683, Numéro 1, 2017
Éditeur: IEEE

Anticipatory models of human movements and dynamics: the roadmap of the AnDy project

Auteurs: Ivaldi, Serena; Fritzsche, Lars; Babič, Jan; Stulp, Freek; Damsgaard, Michael; Graimann, Bernhard; Bellusci, Giovanni; Nori, Francesco
Publié dans: Digital Human Models (DHM), Jun 2017, Bonn, Germany. 2017, Numéro 1, 2017
Éditeur: Digital Human Models

Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control

Auteurs: Spitz, Jonathan; Bouyarmane, Karim; Ivaldi, Serena; Mouret, Jean-Baptiste
Publié dans: https://hal.archives-ouvertes.fr/hal-01569948, Numéro 3, 2017
Éditeur: IEEE

Adaptive Whole-Body Manipulation in Human-to-Humanoid Multi-Contact Motion Retargeting

Auteurs: Otani, Kazuya; Bouyarmane, Karim
Publié dans: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), Numéro 1, 2017
Éditeur: IEEE

Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller

Auteurs: Otani, Kazuya; Bouyarmane, Karim; Ivaldi, Serena
Publié dans: Proceedings of International Conference on Robotics and Automation, Numéro 1, 2018
Éditeur: IEEE

Multi-modal intention prediction with Probabilistic Movement Primitives

Auteurs: Dermy, O.; Charpillet, F.; Ivaldi, S.
Publié dans: Proc. 10th International Workshop on Human-Friendly Robotics (HFR 2017), 2017
Éditeur: Springer STAR

Humanoid Control for Co-Manipulations Tasks with Whole-body Human Dynamics Reconstruction

Auteurs: K. Otani, K. Bouyarmane, S. Ivaldi
Publié dans: "Workshop ""Human-humanoid collaboration"" in HUMANOIDS 2017", 2017
Éditeur: N/A

Safe trajectory optimization for whole-body motion of humanoids

Auteurs: Modugno, V.; Nava, G.; Pucci, D.; Nori, F.; Oriolo, G.; Ivaldi, S.
Publié dans: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Éditeur: IEEE

Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control

Auteurs: Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B.
Publié dans: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Éditeur: IEEE

Towards ergonomie control of human-robot co-manipulation and handover

Auteurs: Luka Peternel, Wansoo Kim, Jan Babic, Arash Ajoudani
Publié dans: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Page(s) 55-60, ISBN 978-1-5386-4678-6
Éditeur: IEEE
DOI: 10.1109/HUMANOIDS.2017.8239537

Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton

Auteurs: Miha Dežman, Jan Babič, Andrej Gams
Publié dans: 2018, Page(s) 778-786
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-319-61276-8_82

Natural Myocontrol in a Realistic Setting: a Comparison Between Static and Dynamic Data Acquisition

Auteurs: Andrea Gigli, Arjan Gijsberts, Claudio Castellini
Publié dans: 2019 IEEE/RAS-EMBS 16th International Conference on Rehabilitation Robotics, 2019
Éditeur: IEEE

Optimizing Contextual Ergonomics Models in Human-Robot Interaction

Auteurs: Antonio Gonzales Marin, Mohammad S. Shourijeh, Pavel E. Galibarov, Michael Damsgaard, Lars Fritzsch, Freek Stulp
Publié dans: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 1-9, ISBN 978-1-5386-8094-0
Éditeur: IEEE
DOI: 10.1109/iros.2018.8594132

Multi-modal Intention Prediction with Probabilistic Movement Primitives

Auteurs: Dermy O., Charpillet F., Ivaldi S.
Publié dans: Human Friendly Robotics. Springer Proceedings in Advanced Robotics, Numéro Vol 7, 2019, Page(s) P 181-196
Éditeur: Springer

Robust real-time whole-body motion retargeting from human to humanoid

Auteurs: Penco, L.; Clement, B.; Modugno, V.; Mingo Hoffman, E.M.; Nava, G.; Pucci, D.; Tsagarakis, N.G.; Mouret, J.-B.; Ivaldi, S.
Publié dans: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Éditeur: IEEE

Learning robust task priorities of QP-based whole-body torque controllers

Auteurs: Charbonneau, M.; Modugno, V.; Nori, F.; Oriolo, G.; Pucci, D.; Ivaldi, S.
Publié dans: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Éditeur: IEEE

Prediction of Human Whole-Body Movements with AE-ProMPs

Auteurs: Dermy, O.; Chaveroche, M.; Colas, F.; Charpillet, F.; Ivaldi, S.
Publié dans: Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS 2018), 2018
Éditeur: IEEE

Ethical and Social Considerations for the introduction of Human-Centered Technologies at Work

Auteurs: Maurice, P.; Allienne, L.; Malaise, A.; Ivaldi, S.
Publié dans: IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018
Éditeur: IEEE

Objective and Subjective Effects of Passive Exoskeleton on Overhead Work

Auteurs: Maurice, P.; Camernik, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J.
Publié dans: 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, 2018
Éditeur: Oral Presentation

Online Activity Recognition for Automatic Ergonomics Assessment

Auteurs: Malaisé, A.; Maurice, P.; Colas F.; Ivaldi S.
Publié dans: 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Éditeur: INRS

Activity recognition with multiple wearable sensors for industrial applications

Auteurs: Malaisé, A.; Maurice, P.; Colas, F.; Charpillet, F.; Ivaldi, S.
Publié dans: Proc. 11th Int. Conf. on Advances in Computer-Human Interactions (ACHI), 2018
Éditeur: IARIA XPS Press

Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller

Auteurs: Otani, K.; Bouyarmane, K.; Ivaldi, S.
Publié dans: Proc. IEEE/RAS Int. Conf. Robotics and Automation (ICRA), 2018
Éditeur: IEEE

Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project

Auteurs: Maurice, P.; Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Pucci, D.; Nori, F.
Publié dans: 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Éditeur: N/A

Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers

Auteurs: Marie Charbonneau, Valerio Modugno, Francesco Nori, Giuseppe Oriolo, Daniele Pucci, Serena Ivaldi
Publié dans: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 1-9, ISBN 978-1-5386-7283-9
Éditeur: IEEE
DOI: 10.1109/HUMANOIDS.2018.8624995

Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation

Auteurs: Claudia Latella, Luca Tagliapietra, Diego Ferigo, Yeshasvi Tirupachuri, Francesco Nori, Daniele Pucci
Publié dans: 2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018, Page(s) 21-22, ISBN 978-1-5386-8037-7
Éditeur: IEEE
DOI: 10.1109/arso.2018.8625806

Whole-Body Compliant Control of iCub: first results with OpenSoT

Auteurs: Hoffman , Enrico ,; Clément , Brice; Zhou , Chengxu; Tsagarakis , Nikos ,; Mouret , Jean-Baptiste; Ivaldi , Serena
Publié dans: ICRA 2018 - International Conference on Robotics and Automation, Numéro 3, 2018
Éditeur: IEEE

Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics

Auteurs: Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Publié dans: ICRA 2018 - International Conference on Robotics and Automation, Numéro 3, 2018
Éditeur: IEEE

Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search

Auteurs: Pautrat, Rémi; Chatzilygeroudis, Konstantinos; Mouret, Jean-Baptiste
Publié dans: ICRA 2018 - International Conference on Robotics and Automation, Numéro 4, 2018
Éditeur: IEEE

Qualitative assessment of a clutch-actuated ankle exoskeleton

Auteurs: Dežman, Miha; Babič, Jan; Gams, Andrej
Publié dans: Advances in service and industrial robotics : proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, [21-23 June 2017, Torino, Italy], Numéro 1, 2017, Page(s) pp. 720-737, 2017
Éditeur: Springer

Trajectory Advancement during Human-Robot Collaboration

Auteurs: Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
Publié dans: IEEE RO-MAN 2019, 2019
Éditeur: arXiv.org

Velocity-Curvature Patterns Limit Human–Robot Physical Interaction

Auteurs: Pauline Maurice, Meghan E. Huber, Neville Hogan, Dagmar Sternad
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/1, 2018, Page(s) 249-256, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2017.2737048

Prediction of Intention during Interaction with iCub with Probabilistic Movement Primitives

Auteurs: Oriane Dermy, Alexandros Paraschos, Marco Ewerton, Jan Peters, François Charpillet, Serena Ivaldi
Publié dans: Frontiers in Robotics and AI, Numéro 4, 2017, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2017.00045

Progress and Prospects of the Human-Robot Collaboration

Auteurs: Ajoudani, Arash; Zanchettin, Andrea,; Ivaldi, Serena; Albu-Schäffer, Alin; Kosuge, Kazuhiro; Khatib, Oussama
Publié dans: Autonomous Robots, Numéro 1, 2017, ISSN 0929-5593
Éditeur: Kluwer Academic Publishers

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction

Auteurs: Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael Mistry, Vincent Padois, Francesco Nori
Publié dans: IEEE Robotics and Automation Letters, Numéro 3/1, 2018, Page(s) 516-523, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2017.2768126

Co-manipulation with a library of virtual guiding fixtures

Auteurs: Gennaro Raiola, Susana Sanchez Restrepo, Pauline Chevalier, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, Freek Stulp
Publié dans: Autonomous Robots, Numéro 42/5, 2018, Page(s) 1037-1051, ISSN 0929-5593
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9680-7

Policy search in continuous action domains: An overview

Auteurs: Olivier Sigaud, Freek Stulp
Publié dans: Neural Networks, Numéro 113, 2019, Page(s) 28-40, ISSN 0893-6080
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.neunet.2019.01.011

Activity Recognition for Ergonomics Assessment of Industrial Tasks With Automatic Feature Selection

Auteurs: Adrien Malaise, Pauline Maurice, Francis Colas, Serena Ivaldi
Publié dans: IEEE Robotics and Automation Letters, Numéro 4/2, 2019, Page(s) 1132-1139, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2019.2894389

Intelligent Human-Robot Collaboration with Prediction and Anticipation

Auteurs: Ivaldi, S
Publié dans: ERCIM NEWS - Special theme: Human-Robot, Numéro Vol 114, 2018, Page(s) Pages 9-11, ISSN 0926-4981
Éditeur: ERCIM EEIG

Human-Robot Interaction - Introduction to the Special Theme

Auteurs: Ivaldi, S.; M. Pateraki
Publié dans: ERCIM NEWS - Special theme: Human-Robot, Numéro Vol 114, 2018, Page(s) P 6-7, ISSN 0926-4981
Éditeur: ERCIM EEIG

Progress and Prospects of the Human-Robot Collaboration

Auteurs: Ajoudani, A.; Zanchettin, A.M.; Ivaldi, S.; Albu-Schaeffer, A.; Kosuge, K.; Khatib, O.
Publié dans: Autonomous Robots, Numéro Vol 42, 2018, Page(s) P 957-975, ISSN 1573-7527
Éditeur: Springer Verlag

Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques

Auteurs: Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
Publié dans: Sensors, Numéro 19/12, 2019, Page(s) 2794, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19122794

Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms

Auteurs: Claudia Latella, Marta Lorenzini, Maria Lazzaroni, Francesco Romano, Silvio Traversaro, M. Ali Akhras, Daniele Pucci, Francesco Nori
Publié dans: Autonomous Robots, Numéro 43/6, 2019, Page(s) 1591-1603, ISSN 0929-5593
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10514-018-9808-4

Limbo: A Flexible High-performance Library for Gaussian Processes modeling and Data-Efficient Optimization

Auteurs: Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, Jean-Baptiste Mouret
Publié dans: Journal of Open Source Software, Numéro 3/26, 2018, Page(s) 545, ISSN 2475-9066
Éditeur: N/A
DOI: 10.21105/joss.00545

Predictability, force, and (anti)resonance in complex object control

Auteurs: Pauline Maurice, Neville Hogan, Dagmar Sternad
Publié dans: Journal of Neurophysiology, Numéro 120/2, 2018, Page(s) 765-780, ISSN 0022-3077
Éditeur: American Physiological Society
DOI: 10.1152/jn.00918.2017

Assessing and improving human movements using sensitivity analysis and digital human simulation

Auteurs: Maurice, Pauline; Padois, Vincent; Measson, Yvan; Bidaud, Philippe
Publié dans: International Journal of Computer Integrated Manufacturing, Numéro 2, 2019, ISSN 1362-3052
Éditeur: TAYLOR & FRANCIS ONLINE

Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition

Auteurs: Franz Steinmetz, Verena Nitsch, Freek Stulp
Publié dans: IEEE Robotics and Automation Letters, Numéro 4, 2019, Page(s) 1-1, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/LRA.2019.2928782

Assessing the efficiency of exoskeletons in physical strain reduction by biomechanical simulation with AnyBody Modeling System

Auteurs: Lars Fritzsche, Pavel E. Galibarov, Christian Gärtner, Jonas Bornmann, Michael Damsgaard, Rudolf Wall, Benjamin Schirrmeister, Jose Gonzalez-Vargas, Daniele Pucci, Pauline Maurice, Serena Ivaldi, Jan Babič
Publié dans: Wearable Technologies, Numéro 2, 2021, Page(s) 16, ISSN 2631-7176
Éditeur: Cambridge University Press
DOI: 10.1017/wtc.2021.5

A survey on policy search algorithms for learning robot controllers in a handful of trials

Auteurs: Chatzilygeroudis, Konstantinos; Vassiliades, Vassilis; Stulp, Freek; Calinon, Sylvain; Mouret, Jean-Baptiste
Publié dans: arXiv.org e-Print Archive, Numéro 25, 2018
Éditeur: arXiv

A Variational Time Series Feature Extractor for Action Prediction

Auteurs: Chaveroche, M.; Malaisé, A.; Colas, F.; Charpillet, F.; Ivaldi, S.
Publié dans: arXiv:1807.02350 [cs.LG], 2018
Éditeur: Cornell University

A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot

Auteurs: Dafarra, Stefano; Romano, Francesco; Nori, Francesco
Publié dans: http://arxiv.org/abs/1705.10638, 2017
Éditeur: http://arxiv.org/abs/1705.10638

Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

Auteurs: Chavez, Francisco Javier Andrade; Nava, Gabriele; Traversaro, Silvio; Nori, Francesco; Pucci, Daniele
Publié dans: http://arxiv.org/abs/1812.00650, 2018
Éditeur: http://arxiv.org/abs/1812.00650

Towards Partner-Aware Humanoid Robot Control Under Physical Interactions

Auteurs: Tirupachuri, Yeshasvi; Nava, Gabriele; Latella, Claudia; Ferigo, Diego; Rapetti, Lorenzo; Tagliapietra, Luca; Nori, Francesco; Pucci, Daniele
Publié dans: http://arxiv.org/abs/1809.06165, 2019
Éditeur: http://arxiv.org/abs/1809.06165

Telexistence and Teleoperation for Walking Humanoid Robots

Auteurs: Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babic, Jan; Pucci, Daniele
Publié dans: http://arxiv.org/abs/1809.01578, 2019
Éditeur: http://arxiv.org/abs/1809.01578

A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping

Auteurs: Dafarra, Stefano; Romano, Francesco; Nava, Gabriele; Nori, Francesco
Publié dans: http://arxiv.org/abs/1705.10635, Numéro 15, 2017
Éditeur: http://arxiv.org/abs/1705.10635

A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

Auteurs: Dafarra, Stefano; Nava, Gabriele; Charbonneau, Marie; Guedelha, Nuno; Andrade, Francisco; Traversaro, Silvio; Fiorio, Luca; Romano, Francesco; Nori, Francesco; Metta, Giorgio; Pucci, Daniele
Publié dans: arxiv.org/abs/1807.05395, 2018
Éditeur: arxiv.org/abs/1807.05395

Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards

Auteurs: Kaushik , Rituraj; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Publié dans: CoRL 2018 - Conference on Robot Learning, Oct 2018, Zurich, Switzerland, Numéro 3, 2018
Éditeur: N/A

Assesing and improving human movements using sensitivity analysis and digital human simulation

Auteurs: MAURICE, P. PADOIS, V. MEASSON, Y BIDAUD, P.
Publié dans: World Congress of Biomechanics, 2018
Éditeur: N/A

Public Simulation Software

Auteurs: Ugurlu, B.; Ivaldi, S.
Publié dans: Humanoid Robotics: A Reference – Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, Numéro VOL 35, 2018
Éditeur: SPRINGER

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