Impact Aware Manipulation by Dexterous Robot Control and Learning in Dynamic Semi-Structured Logistic Environments

Leistungen

The plan for the management of data with specific focus on the IAM impact motion dataset of WP1 Data management plan M6 and update M40

Data Management Plan

The plan for the management of data, with specific focus on the I.AM. impact motion dataset of WP1. Data management plan (M6) and update (M40)

Dissemination Plan

Publication of the I.AM. dissemination plan.

I.AM. software integration policy

This deliverable and its update regard the I.AM. software integration policy (M6) and the testing of the software integration for the three validation scenarios (TOSS, BOX, GRAB), release public API software.

Minutes of the milestone review consortium meeting (focus: TOSS scenario)

This deliverable is a document summarizing the reflections and decisions of the whole consortium taken in order to ensure up the reaching of all milestones up to M30 (in particular, the experimental execution of the TOSS scenario).

Impact Posture Planning for Dynamic Manipulation

This deliverable will be composed of online published papers or technical report about the theoretical foundation for the impact posture planning This is include also the publication of the impact posture planning as open source sofware on GitHub or similar open platform

Minutes of the milestone review consortium meeting (focus: integration)

This deliverable is a document summarizing the reflections and decisions of the whole consortium taken in order to ensure up the reaching of all milestones up to M18 (in particular, software integration and the numerical simulation of the TOSS scenario).

I.AM. software integration policy (update D5.1)

This deliverable and its update regard the IAM software integration policy M6 and the testing of the software integration for the three validation scenarios TOSS BOX GRAB release public API software

Minutes of the milestone review consortium meeting (focus: BOX and GRAB scenarios)

This deliverable is a document summarizing the reflections and decisions of the whole consortium taken in order to ensure up the reaching of all milestones up to M42 in particular the experimental execution of the GRAB and BOX scenarios

Gender Action Plan

Gender action plan to actively address gender unbalance in the consortium.

Website and software repository

Publication of the I.AM. website with feeds from relevant social networks

Veröffentlichungen

Towards a Reference Framework for Tactile Robot Performance and Safety Benchmarking

Autoren: Kirschner RJ, Kurdas A, Karacan K, Junge P, Baradaran Birjandi SA, Mansfeld N, Abdolshah S, Haddadin S
Veröffentlicht in: International Conference on Intelligent Robots and Systems (IROS) 2021, 2021
Herausgeber: IEEE

Experimental Analysis of Impact Forces in Constrained Collisions According to ISO/TS 15066

Autoren: Robin Jeanne Kirschner, Nico Mansfeld, Saeed Abdolshah and Sami Haddadin
Veröffentlicht in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021
Herausgeber: IEEE

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

Autoren: T. Steinecker, A. Kurdas, N. Mansfeld, M. Hamad, R. J. Kirschner, S. Abdolshah, S. Haddadin
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.1109/icra46639.2022.9811582

An MPC Framework For Planning Safe & Trustworthy Robot Motions

Autoren: M. Eckhoff, R. J. Kirschner, E. Kern, S. Abdolshah, S. Haddadin
Veröffentlicht in: 2022
Herausgeber: IEEEE
DOI: 10.1109/icra46639.2022.9812160

CSM: Contact Sensitivity Maps for Benchmarking Robot Collision Handling Systems

Autoren: Kirschner RJ, Jantalia J, Mansfeld N, Abdolshah S, Haddadin S
Veröffentlicht in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Herausgeber: IEEE

Rm-Code: Proprioceptive Real-Time Recursive Multi-Contact Detection, Isolation and Identification

Autoren: Vorndamme J and Haddadin S
Veröffentlicht in: International Conference on Intelligent Robots and Systems (IROS) 2021, 2021
Herausgeber: IEEE

Online Payload Identification for Tactile Robots Using the Momentum Observer

Autoren: A. Kurdas, M. Hamad, J. Vorndamme, N. Mansfeld, S. Abdolshah and S. Haddadin
Veröffentlicht in: ICRA 2022, 2022
Herausgeber: IEEE
DOI: 10.1109/icra46639.2022.9811691

Learning Suction Cup Dynamics from Motion Capture: Accurate Prediction of an Object's Vertical Motion during Release

Autoren: Menno Lubbers; Job van Voorst; Maarten Jongeneel; Alessandro Saccon
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.1109/iros47612.2022.9982211

A Robotics Perspective on Experimental Injury Biomechanics of Human Body Upper Extremities

Autoren: Mazin Hamad, Alexander Kurdas, Saeed Abdolshah and Sami Haddadin
Veröffentlicht in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021
Herausgeber: IEEE

Model-Adaptive High-Speed Collision Detection for Serial-Chain Robot Manipulators

Autoren: Seyed Ali Baradaran Birjandi, Sami Haddadin
Veröffentlicht in: 2020 IEEE Robotics and Automation Letters, 2020
Herausgeber: IEEE

Geometric Savitzky-Golay Filtering of Noisy Rotations on SO(3) with Simultaneous Angular Velocity and Acceleration Estimation

Autoren: M. Jongeneel, A. Saccon
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.1109/iros47612.2022.9981409

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Autoren: P. Svarny, M. Hamad, A. Kurdas, M. Hoffmann, A. Saeed and S. Haddadin
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.1109/humanoids53995.2022.10000070

Robot-Safe Impacts with Soft Contacts Based on Learned Deformations

Autoren: Dehio, Niels; Kheddar, Abderrahmane
Veröffentlicht in: ICRA, Ausgabe 1, 2021
Herausgeber: IEEE

Notion on the Correct Use of the Robot Effective Mass in the Safety Context and Comments on ISO/TS 15066

Autoren: Kirschner RJ, Mansfeld N, Peña GG, Abdolshah S, Haddadin S.
Veröffentlicht in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021
Herausgeber: IEEE

Learning to Hit: A statistical Dynamical System based approach

Autoren: Harshit Khurana, Michael Bombile, Aude Billard
Veröffentlicht in: IROS 2021, 2021
Herausgeber: IEEE/RSJ International Conference on Intelligent Robots and Systems

Experimental Injury Biomechanics of Human Body Upper Extremities: Anatomy, Injury Severity Classification, and Impact Testing Setups

Autoren: Mazin Hamad, Alexander Kurdas, Saeed Abdolshah and Sami Haddadin
Veröffentlicht in: 2021 IEEE International Conference on Intelligence and Safety for Robotics (ISR), 2021
Herausgeber: IEEE

Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study

Autoren: Ilias Aouaj; Vincent Padois; Alessandro Saccon
Veröffentlicht in: IEEE International Conference on Robotics and Automation (ICRA), 2021
Herausgeber: IEEE

Robot Contact Reflexes: Adaptive Maneuvers in the Contact Reflex Space

Autoren: J. Vorndamme, L. F. C. Figueredo, S. Haddadin
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.1109/iros47612.2022.9981904

Robust Cartesian Kinematics Estimation for Task-Space Control Systems

Autoren: Seyed Ali Baradaran Birjandi; Niels Dehio; Abderrahmane Kheddar; Sami Haddadin
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.1109/iros47612.2022.9981233

Robot control for simultaneous impact tasks via QP based reference spreading

Autoren: J van Steen, N van de Wouw, A Saccon
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.23919/acc53348.2022.9867812

Real-Time IMU-Based Learning: A Classification of Contact Materials

Autoren: C. M. Valle, A. A. Kurdas, E. P. Fortunić, S. Abdolshah, S. Haddadin
Veröffentlicht in: 2022
Herausgeber: IEEE
DOI: 10.1109/iros47612.2022.9981139

Model-Based 6D Visual Object Tracking with Impact Collision Models

Autoren: Maarten Jongeneel; Alexandre Bernardino; Nathan van de Wouw; Alessandro Saccon
Veröffentlicht in: 2022 American Control Conference (ACC), 2022
Herausgeber: IEEE
DOI: 10.23919/acc53348.2022.9867622

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object: Proposing a New Approach

Autoren: Michael Bombile; Aude Billard
Veröffentlicht in: IEEE Robotics & Automation Magazine, Ausgabe 1, 2022, ISSN 1070-9932
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2022.3177355

Dual-arm box grabbing with impact-aware model predictive control utilizing soft deformable end-effector pads

Autoren: N. Dehio, Y. Wang, A. Kheddar,
Veröffentlicht in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2022.3158433

The Franka Emika Robot: A Reference Platform for Robotics Research and Education

Autoren: S. Haddadin, S. Parusel, L. Johannsmeier, S. Golz, S. Gabl, F. Walch, M. Sabaghian, C. Jähne, L. Hausperger, S. Haddadin
Veröffentlicht in: IEEE Robotics & Automation Magazine, 2022, ISSN 1070-9932
Herausgeber: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2021.3138382

On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

Autoren: Yuquan Wang; Niels Dehio; Abderrahmane Kheddar
Veröffentlicht in: IEEE Robotics and Automation Letters, Ausgabe 4, 2022, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.48550/arxiv.2109.04756

Predicting impact-induced joint velocity jumps on kinematics-controlled manipulators

Autoren: Y. Wang, N. Dehio, A. Kheddar,
Veröffentlicht in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2022.3167614

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

Autoren: Robin Jeanne Kirschner; Henning Mayer; Lisa Burr; Nico Mansfeld; Saeed Abdolshah; Sami Haddadin
Veröffentlicht in: IEEE Robotics and Automation Letters, Ausgabe 1, 2022, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.48550/arxiv.2109.07201

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