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

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