SAPHARI

Journal papers

1. S. Haddadin, P. Robuffo Giordano, A. Peer, “Editorial special issue on autonomous physical Human-Robot Interaction”, International Journal of Robotics Research, vol. 31, no. 13, pp. 1529-1530, 2012.
2. C. Papazov, S. Haddadin, S. Parusel, K. Krieger, and D. Burschka, “Rigid 3D geometry matching for grasping of known objects in cluttered scenes”, International Journal of Robotics Research,  vol. 31, no. 4,  pp. 538-555,  2012.
3. E. A. Sisbot, and R. Alami, “A human-aware manipulation planner”, IEEE Transactions on Robotics, vol. 28, no. 5, pp. 1045-1057, 2012.

Conference papers and book chapters

1. Q. A. Do Hoang, J. Guiochet, D. Powell, and M. Kaâniche, “Human-robot interactions: Model-based risk analysis and safety case construction”, 6th European Congress on Embedded Real-Time Software and Systems, Toulouse, France, February 2012.
2. A. Ajoudani, N.G. Tsagarakis, A. Bicchi, “Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots”, 2012 IEEE International Conference of Robotics and Automation, St. Paul, MN, pp. 382- 388, May 2012.
3. M.G. Catalano, G. Grioli, M. Garabini, F.A.W. Belo, A. Di Basco, N.G. Tsagarakis, A.Bicchi, “A Variable Damping module for Variable Impedance Actuation”, 2012 IEEE International Conference of Robotics and Automation, St. Paul, MN, pp. 2666-2672, May 2012.
4. F. Flacco, T. Kröger, A. De Luca, O. Khatib, “A depth space approach to human-robot collision avoidance,” 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, pp. 338-345, May 2012.
5. F. Flacco, A. De Luca, O. Khatib, “Motion control of redundant robots under joint constraints: Saturation in the null space,” 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, pp. 285-292, May 2012.
6. M. Garabini, A. Passaglia, F. A. W. Belo, P. Salaris, A. Bicchi, “Optimality principles in stiffness control: The VSA kick”, 2012 IEEE International Conference of Robotics and Automation, St. Paul, MN, pp. 3341-3346, May 2012.
7. A. Jafari, N.G. Tsagarakis, I. Sardellitti, D. G. Caldwell, “How design can affect the energy required to regulate the stiffness in variable stiffness actuators”, 2012 IEEE International Conference of Robotics and Automation, St. Paul, MN, pp. 2792 - 2797, May 2012.
8. N. Jarrassé, G. Ganesh, S. Haddadin, E. Burdet, A. Albu-Schäffer “A versatile biomimetic controller for contact tooling and tactile exploration”, 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, pp. 3329-3334, May 2012.
9. S. Haddadin, F. Huber, A. Albu-Schäffer, “Optimal control for exploiting the natural dynamics of variable stiffness robots”, 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, pp. 3347-3354, May 2012.
10. M. Mancini, G. Grioli, M. G. Catalano, M. Garabini, F. Bonomo, A. Bicchi, “Passive impedance control of a multi-DOF VSA-CubeBot manipulator,” 2012 IEEE International Conference of Robotics and Automation, St. Paul, MN, pp. 3335-3340, May 2012.
11. H. Sadeghian, M. Keshmiri, L. Villani, B. Siciliano, "Priority oriented adaptive control of kinematically redundant manipulators", 2012 IEEE International Conference on Robotics and Automation, St. Paul, MN, pp. 293-298, May 2012.
12. I. Sardellitti, G. Medrano-Cerda,  N.G.  Tsagarakis, A. Jafari, D. G. Caldwell, “A position and stiffness control strategy for variable stiffness actuators”, 2012 IEEE International Conference of Robotics and Automation, St. Paul, MN, pp. 2785-2791, May 2012.
13. J. Guitton, M. Warnier, R. Alami, “Vers une gestion des croyances pour la planification Homme-Robot”, JFPDA 2012, 7èmes Journées Francophones Planification, Decision, et Apprentissage pour la conduite de systèmes”, Nancy, France, May 2012. 
14. D. Powell, J. Arlat, H. N. Chu, F. Ingrand, M. Killijian, “Testing the Input Timing Robustness of Real-time Control Software for Autonomous Systems”, Ninth European Dependable Computing Conference (EDCC 2012), Sibiu, Romania, May 2012.
15. G. Milighetti, E. Hoffmann, A. Fetzner and H.-B. Kuntze, “Visually and force controlled opening and closing of doors by means of a mobile robot arm”, Proceedings of ROBOTIK 2012, 7th German Conference on Robotics, May 2012. 
16. J. Petereit, T. Emter, C. W. Frey, T. Kopfstedt, A. Beutel, “Application of Hybrid A* to an Autonomous Mobile Robot for Path Planning in Unstructured Outdoor Environments”, Proceedings of ROBOTIK 2012, 7th German Conference on Robotics, May 2012. 
17. A. De Luca, F. Flacco, “Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration,” 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, pp. 288-295, June 2012 (Best Paper Award).
18. G. De Maria, C. Natale, S. Pirozzi, “Tactile Sensor for Human-like Manipulation”, The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, pp. 1686-1691, June 2012.
19. F. Ficuciello, L. Villani, "Compliant hand-arm control with soft fingers and force sensing for human-robot interaction”, The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, pp. 1961-1966, June 2012.
20. A.K. Pandey, J. Saut, D. Sidobre, R. Alami, "Towards planning Human-Robot Interactive manipulation tasks: Task dependent and human oriented autonomous selection of grasp and placement," The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, pp.1371-1376, June 2012.
21. S. Pirozzi, A. Cirillo, P. Cirillo, “A Modular and Low-Cost Artificial Skin for Robotic Applications”, The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, pp. 961-966, June 2012.
22. L. Villani, H. Sadeghian, B. Siciliano, "Null-space impedance control for physical human-robot interaction”, 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Paris, France, June 2012.
23. C. Lisha, M. Laffranchi, N. G. Tsagarakis, D. Caldwell, "A novel curve fitting based discrete velocity estimator for high performance motion control”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, , Taiwan, pp. 1060-1065, July 2012.
24. M. Laffranchi, N. Tsagarakis, D. Caldwell, “CompactTM arm: a compliant manipulator with intrinsic variable physical damping,” in Proceedings of the 2012 International Conference on Robotics, Science and Systems (RSS), Sydney, July 2012.
25. A. K. Pandey and R. Alami, "Visuo-Spatial Ability, Effort and Affordance Analyses: Towards Practical Realization of Building Blocks for Robot's Complex Socio-Cognitive Behaviors", 8th International Cognitive Robotics Workshop (CogRob-2012) , Toronto, Canada, July 2012.
26. J. Guitton, M. Warnie,  R. Alami, “Belief Management for HRI Planning”, Belief change, Non-monotonic reasoning and Conflict resolution (BNC@ECAI 2012), Montpellier, France, August 2012
27. H. Sadeghian, F. Ficuciello, L. Villani, M. Keshmiri, "Global impedance control of dual-arm manipulation for safe interaction", 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, September 2012. 
28. S. Iengo, A. Origlia, M. Staffa and A. Finzi. "Attentional and Emotional Regulation in Human-Robot Interaction", 21st IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 1135-1140, September 2012.
29. J. Mainprice, M. Gharbi, T. Simeon, R. Alami, “Sharing effort in planning human-robot handover tasks”, 21st IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 764-770, September 2012. 
30. K. Pandey and R. Alami, “Taskability graph: Towards analysing effort based agent-agent affordances,” 21st IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 791–796, September 2012.
31. M. Warnier, J. Guitton, S. Lemaignan, R. Alami, “When the robot puts itself in your shoes. Managing and exploiting human and robot beliefs”, 21st IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, pp. 948-954, September 2012. 
32. E. Burattini, A. Finzi, S. Rossi, M. Staffa, “Attentional human-robot interaction in simple manipulation tasks,” 7th ACM/IEEE International Conference on Human-Robot Interaction, Boston, MA, pp. 129-130, September 2012.
33. S. Lemaignan, M. Gharbi, J. Mainprice, M. Herrb, R. Alami, “Roboscopie: a theatre performance for a human and a robot”, 7th ACM/IEEE International Conference on Human-Robot Interaction, Boston, MA, pp. 427-428, September 2012.
34. S. Lemaignan, G. Echeverria, M. Karg, J. Mainprice, A. Kirsch, and R. Alami, ”Human- robot interaction in the MORSE simulator”, 7th ACM/IEEE International Conference on Human-Robot Interaction, Boston, MA, pp. 181-182, September 2012.
35. F. Flacco, A. De Luca, I. Sardellitti, N. Tsagarakis “On-line estimation of variable stiffness in flexible robot joints”, Automatica 2012, Benevento, I, September 2012. 
36. D. J. Braun, F. Petit, F. Huber, S. Haddadin, P. van der Smagt, A. Albu-Schäffer, S. Vijayakumar, “Optimal torque and stiffness control in compliantly actuated robots”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 2801-2808, October 2012.
37. F. Flacco, A. De Luca, O. Khatib, “Prioritized multi-task motion control of redundant robots under hard joint constraints,” 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 3970-3977, October 2012. 
38. J. Guiochet, Q. A. Do Hoang, M. Kaâniche, and D. Powell, “Applying Existing Standards to a Medical Rehabilitation Robot : Limits and Challenges”, 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Workshop FW5: Safety in Human-Robot Coexistence & Interaction: How can Standardization and Research benefit from each other?, Vilamoura, P, October 2012.
39. S. Haddadin, S. Haddadin, A. Khoury, T. Rokahr, S. Parusel, R. Burgkart, A. Bicchi, A. Albu-Schäffer,  “A truly safely moving robot has to know what injury it may cause”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 5406-5413, October 2012.
40. S. Haddadin, F. Huber, K. Krieger, R. Weitschat, A. Albu-Sch¨affer, S. Wolf, W. Friedl, M. Grebenstein, F. Petit, J. Reinecke, R. Lampariello, “Intrinsically elastic robots: the key to human like performance”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 4270-4271, October 2012.
41. S. Haddadin, K. Krieger, N. Mansfeld, A. Albu-Schäffer,  “On impact decoupling properties of elastic robots and time optimal velocity maximization on joint level”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 5089 – 5096, October 2012.
42. S. Haddadin, N. Mansfeld, A. Albu-Schäffer, “Rigid vs. elastic actuation: Requirements and performance”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 5097-5104, October 2012.
43. M. Laffranchi, L. Chen, N. G. Tsagarakis, and D. G. Caldwell, "The role of physical damping in compliant actuation systems”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 3079-3085, October 2012.
44. H. Sadeghian, M. Keshmiri, L. Villani, B. Siciliano, "Null-space impedance control with disturbance observer", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, P, pp. 2795-2800, October 2012.
45. A. De Luca, F. Flacco “Integrated control for pHRI: Collision avoidance, detection, reaction and collaboration”, 5th International Workshop on Human-Friendly Robotics (HFR 2012), Brussels, B, October 2012. 
46. N. Kashiri, M. Laffranchi, N. G. Tsagarakis, and D. G. Caldwell, “Precise and adaptable motion control of a compliant manipulator provided with variable clutch actuation systems”, 5th International Workshop on Human-Friendly Robotics (HFR 2012), Brussels, B, October 2012.
47. A. Ajoudani, M. Gabiccini, N. G. Tsagarakis, A. Albu-Schaeffer, A. Bicchi ”Tele-Impedance: Exploring the Role of Common-Mode and Configuration-Dependant Stiffness”, IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, November 2012.
48. L. Balletti, A. Rocchi, F.A.W. Belo, M.G. Catalano, M. Garabini, G. Grioli, A. Bicchi  “Towards variable impedance assembly: the VSA peg-in-hole”, IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, November 2012. 
49. D. Gossow, D. Weikersdorfer, M. Beetz, “Distinctive Texture Features from Perspective-Invariant Keypoints”, 21st International Conference on Pattern Recognition, Tsukuba, Japan, November 2012.
50. A. Mekki-Mokhtar, J.-P. Blanquart, J. Guiochet, D. Powell, M. Roy, “Safety Trigger Conditions for Critical Autonomous Systems”, 18th IEEE Pacific Rim International Symposium on Dependable Computing (PRDC 2012), Niigata, Japan, pp. 61-69, November 2012.
51. S. Haddadin, M. C. Özparpucu, A. Albu-Schäffer, “Optimal control for maximizing potential energy in variable stiffness robots”, 2012 IEEE International Conference on Decision and Control, Maui, Hawaii, December 2012. 
52. D. Di Nocera, A. Finzi, S. Rossi, M. Staffa, "Attentional Action Selection Using Reinforcement Learning", Proc. of 12th International Conference on Adaptive Behaviour (SAB2012), Odense, Denmark, in T. Ziemke, C. Balkenius, and J. Hallam (Eds.): From Animals to Animats 12, Lecture Notes in Computer Science, Springer, Berlin Heidelberg, vol. 7426, pp. 371-380, 2012.
53. S. Lemaingan, R. Alami, A. Kumar Pandey, M. Warnier, J. Guitton, “Towards Grounding Human-Robot Interaction,” in Bridges between the Methodological and Practical Work of the Robotics and Cognitive Systems Communities - From Sensors to Concepts, Amirat, T. and Chibani, A. and Zarri, G. P. (Eds.), Springer, in press, 2012.

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