Livrables Demonstrators, pilots, prototypes (4) 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 Documents, reports (17) 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). Open Research Data Pilot (3) 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 Websites, patent fillings, videos etc. (1) Website and software repository online Publication of the ANDY website with feeds from relevant social networks. Publications Conference proceedings (31) Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations Auteurs: Nori, Francesco Publié dans: Issue 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, Issue 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, Issue 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, Issue 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), Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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], Issue 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 Peer reviewed articles (17) 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 2, 2021, Page(s) 16, ISSN 2631-7176 Éditeur: Cambridge University Press DOI: 10.1017/wtc.2021.5 Other (10) 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, Issue 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, Issue 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, Issue 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 Book chapters (1) Public Simulation Software Auteurs: Ugurlu, B.; Ivaldi, S. Publié dans: Humanoid Robotics: A Reference – Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, Issue VOL 35, 2018 Éditeur: SPRINGER Recherche de données OpenAIRE... Une erreur s’est produite lors de la recherche de données OpenAIRE Aucun résultat disponible
