Generalizing human-demonstrated robot skills

Project Information

ROBOTGENSKILL

Grant agreement ID: 788298

DOI 10.3030/788298

Project closed

EC signature date 2 May 2018

Start date 1 October 2018

End date 31 March 2024

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 2 494 971,00

EU contribution € 2 494 971,00

Coordinated by

KATHOLIEKE UNIVERSITEIT LEUVEN
Belgium

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Publications

Peer reviewed articles (9)

Shape-Preserving and Reactive Adaptation of Robot End-Effector Trajectories

Author(s): Maxim Vochten, Wilm Decre, Erwin Aertbelien, Joris De Schutter
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 667-674, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.3048674

Effect of the soft tissue artifact on marker measurements and on the calculation of the helical axis of the knee during a squat movement: A study on the CAMS-Knee dataset.

Author(s): Andrea Ancillao; Joris De Schutter; Erwin Aertbeliën
Published in: Medical Engineering and Physics, Issue 110, 2022, Page(s) 103915, ISSN 1350-4533
Publisher: Elsevier BV
DOI: 10.1016/j.medengphy.2022.103915

Effect of the soft tissue artifact on marker measurements and on the calculation of the helical axis of the knee during a gait cycle: A study on the CAMS-Knee data set

Author(s): Andrea Ancillao, Erwin Aertbeliën, Joris De Schutter
Published in: Human Movement Science, Issue 80, 2021, Page(s) 102866, ISSN 0167-9457
Publisher: Elsevier BV
DOI: 10.1016/j.humov.2021.102866

A generalization of the Riccati recursion for equality-constrained linear quadratic optimal control

Author(s): Lander Vanroye, Joris De Schutter, Wilm Decré
Published in: Optimal Control Applications & Methods;, Issue 45/1, 2024, Page(s) 436-454, ISSN 0143-2087
Publisher: John Wiley & Sons Inc.
DOI: 10.1002/oca.3064

Generalizing demonstrated motion trajectories using coordinate-free shape descriptors

Author(s): Maxim Vochten, Tinne De Laet, Joris De Schutter
Published in: Robotics and Autonomous Systems, Issue 122, 2019, Page(s) 103291, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2019.103291

Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System

Author(s): Andrea Ancillao, Maxim Vochten, Erwin Aertbeliën, Wilm Decré, Joris De Schutter
Published in: Sensors, Issue 20/1, 2020, Page(s) 49, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20010049

A Novel Procedure for Knee Flexion Angle Estimation Based on Functionally Defined Coordinate Systems and Independent of the Marker Landmarks

Author(s): Arno Verduyn; Joris De Schutter; Maxim Vochten; Erwin Aertbeliën; Andrea Ancillao
Published in: Environmental Research and Public Health, Issue 20(1), 2023, Page(s) 500, ISSN 1660-4601
Publisher: mdpi
DOI: 10.3390/ijerph20010500

Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact

Author(s): Maxim Vochten, Ali Mousavi Mohammadi, Arno Verduyn, Tinne De Laet, Erwin Aertbeliën, Joris De Schutter
Published in: IEEE Transactions on Robotics, Issue 39/6, 2023, Page(s) 4892 - 4912, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3309230

An optimal method for calculating an average screw axis for a joint, with improved sensitivity to noise and providing an analysis of the dispersion of the instantaneous axes.

Author(s): Andrea Ancillao; Maxim Vochten; Arno Verduyn; Joris De Schutter; Erwin Aertbeliën
Published in: PLoS ONE, Issue 17(10), 2022, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0275218

Conference proceedings (4)

Extending extrapolation capabilities of probabilistic motion models learned from human demonstrations using shape-preserving virtual demonstrations

Author(s): Riccardo Burlizzi, Maxim Vochten, Joris De Schutter, Erwin Aertbeliën
Published in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Issue 2022, 2022, Page(s) 10772 - 10779, ISBN 978-1-6654-7927-1
Publisher: 2153-0866
DOI: 10.1109/iros47612.2022.9982222

Shape-based path adaptation and simulation-based velocity optimizationof initial tool trajectories for robotic spray painting

Author(s): Arno Verduyn, Joris De Schutter, Wilm Decré, Maxim Vochten
Published in: Proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), Auckland, New-Zealand, Issue August, 2023, 2023, Page(s) 1-8, ISBN 979-8-3503-2070-1
Publisher: 2153-0866
DOI: 10.1109/case56687.2023.10260519

Enhancing motion trajectory segmentation of rigid bodies using a novel screw-based trajectory-shape representation

Author(s): Arno Verduyn, , Maxim Vochten, Joris De Schutter
Published in: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Issue May, 2024, 2024, Page(s) 1-7
Publisher: IEEE
DOI: 10.48550/arxiv.2309.11413

FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control

Author(s): Lander Vanroye, Ajay Sathya, Joris De Schutter, Wilm Decré
Published in: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue October, 2023, 2023, Page(s) 10036-10043, ISBN 978-1-6654-9191-4
Publisher: 2153-0866
DOI: 10.1109/iros55552.2023.10342336