SAPHARI - Safe and Autonomous Physical Human-Aware Robot Interaction

Y2 Publications

November 2012-October 2013

Journal papers

J1. F. Flacco, A. De Luca, I. Sardellitti, N. Tsagarakis, “On-line estimation of variable stiffness in flexible robot joints,” International Journal of Robotics Research, vol. 31, no. 13, pp. 1556-1577, 2012.

J2. D.J. Braun, F. Petit, F. Huber, S. Haddadin, P. van der Smagt, A. Albu-Schäffer, S. Vijayakumar, "Robots driven by compliant actuators: Optimal control under actuation constraints," IEEE Transactions on Robotics, vol. 29, no. 5, 2013, 10.1109/TRO.2013.2271099.

J3. S. Haddadin, S. Haddadin, A. Khoury, T. Rokahr, S. Parusel, R.Burgkart, A. Bicchi, A. Albu-Schäffer, "Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion," At – Automatisierungstechnik, in press.

J4. S. Haddadin, S. Haddadin, A. Khoury, T. Rokahr, S. Parusel, R. Burgkart, A. Bicchi, A. Albu-Schäffer, “On making robots understand safety: Embedding injury knowledge into control," International Journal of Robotics Research, vol. 31, no. 13, pp. 1578-1602, 2012.

J5. A. Ajoudani, N.G. Tsagarakis, A. Bicchi, “Tele-impedance: Teleoperation with impedance regulation using a body-machine interface”, International Journal of Robotics Research, vol. 31, no. 13, pp. 1643-1656, 2012.

J6. D. Gan, N.G. Tsagarakis, J. S. Dai, D. G. Caldwell, L. D. Seneviratne, “Stiffness Design for a spatial 3-DOF Serial Compliant Manipulator Based on Impact Configuration Decomposition," ASME Transaction of Mechanisms and Robotics, vol. 5, no.1, 2012, 10.1115/1.4007492.

J7. M. Ghallab, D. Nau, P. Traverso, "The actor's view of automated planning and acting: A position paper," Artificial Intelligence, 2014, vol. 208, pp. 1-17, 2014, 10.1016/j.artint.2013.11.002.

J8. T. Kruse, A. K. Pandey, R. Alami, A. Kirsch, "Human-aware robot navigation: A survey," Robotics and Autonomous Systems, vol. 61, pp. 1726-1743, 2013, 10.1016/j.robot.2013.05.007.

J9. A. Kumar Pandey, M. Ali, R. Alami, "Towards task-aware, proactive-sociable robot based on multi-state perspective-taking," International Journal of Social Robotics, vol. 5, no. 2, pp. 215-236, 2013, 10.1007/s12369-013-0181-3.

J10. H. Sadeghian, L. Villani, M. Keshmiri, B. Siciliano, "Dynamic multi-priority control in redundant robotic systems," Robotica, vol. 37, pp. 1155-1167, 2013, 10.1017/S0263574713000416.

J11. H. Sadeghian, L. Villani, M. Keshmiri, B. Siciliano, "Task space control of robot manipulators with null space compliance," IEEE Transactions on Robotics, 2014, 10.1109/TRO.2013.2291630.

J12. J. Winkler, G. Bartels, L. Mösenlechner, M. Beetz, "Knowledge enabled high-level task abstraction and execution," Journal of Advances in Cognitive Systems, vol. 2, pp. 131-149, 2012.

Books

B1. S. Haddadin, Towards Safe Robots, Springer Tracts on Advanced Robotics, Springer Tracts on Advanced Robotics, vol. 90, 2014, 10.1007/978-3-642-40308-8.

Conference papers

C1. N. Aghakhani, M. Geravand, N. Shahriari, M. Vendittelli, G. Oriolo, Task control with remote center of motion constraint for minimally invasive robotic surgery, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, D, pp. 5807-5812, May 2013, 10.1109/ICRA.2013.6631412.

C2. M. Cefalo, G. Oriolo, M. Vendittelli , Planning safe cyclic motions under repetitive task constraints, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, D, pp. 3807-3812, May 2013, 10.1109/ICRA.2013.6631112.

C3. M. Cefalo, G. Oriolo, M. Vendittelli, Task-constrained motion planning with moving obstacles, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, J, pp. 5758-5763, November 2013, 10.1109/IROS.2013.6697190.

C4. F. Flacco, A. De Luca, Fast redundancy resolution for high-dimensional robots executing prioritized tasks under hard bounds in the joint space, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, J, pp. 2500-2506, November 2013, 10.1109/IROS.2013.6696708.

C5. F. Flacco, A. De Luca, Optimal redundancy resolution with task scaling under hard bounds in the robot joint space, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, D, pp. 3969-3975, May 2013, 10.1109/ICRA.2013.6631136.

C6. F. Flacco, A. De Luca, Safe physical human-robot collaboration, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, J, pp. 2072, November 2013, 10.1109/IROS.2013.6696635,(IROS13 Best Video Award Finalist).

C7. M. Geravand, F. Flacco, A. De Luca, Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, D, pp. 4000-4007, May 2013, 10.1109/ICRA.2013.6631141.

C8. J. Bohren, C. Papazov, D. Burschka, K. Krieger, S. Parusel, S. Haddadin, W. L. Shepherdson, G. D. Hager, L. L. Whitcomb, A pilot study in vision-based augmented telemanipulation for remote assembly over high-latency networks, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 2013, pp. 3631-3638, 10.1109/ICRA.2013.6631087.

C9. A. Dietrich, C. Ott, A. Albu-Schäffer, Multi-objective compliance control of redundant manipulators: Hierarchy, control, and stability, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 2013, pp. 3043-3050, 10.1109/IROS.2013.6696787.

C10. S. Haddadin, It is (almost) all about human safety: A novel paradigm for robot design, control, and planning, NEUROTECHNIX 2013, Vilamoura, Portugal, September 2013, LNCS n. 8153, pp 202-215, 10.1007/978-3-642-40793-2_19.

C11. S. Haddadin, R. Weitschat, F. Huber, M. C. Özparpucu, A. Albu-Schäffer, optimal control for viscoelastic robots and its generalization in real-time, The 16th International Symposium on Robotics Research, December 2013, in press.

C12. D. Lakatos, G. Garofalo, F. Petit, C. Ott, A. Albu-Schäffer, Modal limit cycle control for variable stiffness actuated robots, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 4934-4941, May 2013, 10.1109/ICRA.2013.6631282.

C13. D.Lakatos, M.Görner, F. Petit, A. Dietrich, A.Albu-Schäffer, a modally adaptive control for multi-contact cyclic motionsin compliantly actuated robotic systems, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5388-5395, November 2013, 10.1109/IROS.2013.6697136.

C14. D. Lakatos, F. Petit, A. Albu-Schäffer , Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 508-515, May 2013, 10.1109/ICRA.2013.6630622.

C15. C. Ott, B. Henze, D. Lee, Kinesthetic teaching of humanoid motion based on whole body compliance control with interaction aware balancing, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp.4615-4621, November 2013, 10.1109/IROS.2013.6697020.

C16. M. C. Özparpucu, S. Haddadin, Optimal control for maximizing link velocity of visco-elastic joints, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 3035-3042, November 2013, 10.1109/IROS.2013.6696786.

C17. R. Weitschat, S. Haddadin, F. Huber, A. Albu-Schäffer, Dynamic optimality in real-time: a learning framework for near-optimal robot motions, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5636-5643, November 2013, 10.1109/IROS.2013.6697173.

C18. S. Wolf, A.Albu-Schäffer, Towards a robust variable stiffness actuator, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5410-5417 November 2013, 10.1109/IROS.2013.6697139.

C19. L. Chen, M. Garabini, M. Laffranchi, N. Kashiri, N. G. Tsagarakis, A. Bicchi, and D. G. Caldwell, Optimal control for maximizing velocity of the CompActTM compliant actuator, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 516-522, May 2013, 10.1109/ICRA.2013.6630623.

C20. N. Karavas, A. Ajoudani, N. G. Tsagarakis, J. Saglia, A. Bicchi, D. G. Caldwell, Tele-impedance based stiffness and motion augmentation for a knee exoskeleton, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 2194-2200, May 2013, 10.1109/ICRA.2013.6630872.

C21. S. Calinon, T. Alizadeh, D. G. Caldwell, On improving the extrapolation capability of task-parameterized movement models, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 610-616 November 2013 10.1109/IROS.2013.6696414.

C22. N. Kashiri, M. Laffranchi, N. G. Tsagarakis, I. Sardellitti, D. G. Caldwell, Dynamic modeling and adaptable control with the CompActTM compliant actuated arm, 2013 IEEE International Conference on Mechatronics, Vicenza, Italy, pp. 477-482, Feb.-Mar. 2013, 10.1109/ICMECH.2013.6518583.

C23. N. Kashiri, M. Laffranchi, N. G. Tsagarakis, I. Sardellitti, D.G. Caldwell, On the stiffness design of intrinsic compliant manipulators, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 1306-1311, May 2013, 10.1109/AIM.2013.6584275.

C24. N. Tsagarakis, S. Morfey, G. Medrano-Cerda, Z. Li, D. G. Caldwell, Compliant humanoid COMAN: Optimal joint stiffness tuning for modal frequency control, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 673-678, May 2013, 10.1109/ICRA.2013.6630645.

C25. J. Petereit, T. Emter, C. W. Frey, Combined trajectory generation and path planning for mobile robots using lattices with hybrid dimensionality, 2nd International Conference on Robot Intelligence Technology and Applications, Denver, USA, December 2013, in press

C26. J. Petereit, T. Emter, C. W. Frey, Safe mobile robot motion planning for waypoint sequences in a dynamic environment, 2013 IEEE International Conference on Industrial Technology, Cape Town, South Africa, pp. 181-186, February 2013, 10.1109/ICIT.2013.6505669.

C27. J. Petereit, T. Emter, C. W. Frey, Mobile robot motion planning in multi-resolution lattices with hybrid dimensionality, 2013 IFAC Intelligent Autonomous Vehicles Symposium, Gold Coast, Australia, pp. 158-163, June 2013, 10.3182/20130626-3-AU-2035.00018.

C28. J. Petereit, T. Emter, C. W. Frey, Safe mobile robot motion planning for waypoint sequences in a dynamic environment, 2013 IEEE International Conference on Industrial Technology, Cape Town, South Africa, pp. 181-186, February 2013, 10.1109/ICIT.2013.6505669.

C29. F. Cutugno, A. Finzi, M. Fiore, E. Leone, S. Rossi, Interacting with robots via speech and gestures, an integrated architecture, INTERSPEECH 2013 – 14th Annual Conference of the International Speech Communication Association, Lyon (France), August 2013, in press

C30. D. di Nocera, A.Finzi, S. Rossi, M. Staffa, Attentional shifting and curiosity: A reinforcement learning approach, 1st BRICS Countries & 11th CBIC Brazilian Congress on Computational Intelligence, Recife (Brasil), September 2013 (Best Professional Paper Award), in press

C31. L. Lucignano, F. Cutugno, S. Rossi, A. Finzi, A dialogue system for multimodal human-robot interaction, 15th International Conference on Multimodal Interaction – ICMI, Sydney (Australia), December 2013, in press

C32. R. Alami, On human models for collaborative robots, The 2013 International Conference on Collaboration Technologies and Systems, San Diego, CA, pp. 191-194, May 2013, 10.1109/CTS.2013.6567228, (Keynote Lecture).

C33. L. de Silva, A. Kumar Pandey, R. Alami, An interface for interleaved symbolic-geometric planning and backtracking, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 232-239, November 2013, 10.1109/IROS.2013.6696358.

C34. M. Gharbi, S. Lemaignan, J. Mainprice, R. Alami, Natural interaction for object hand-over, Eighth Annual Conference on Human-Robot Interaction, Tokyo, Japan, March 2013, 10.1109/HRI.2013.6483617.

C35. J. Guiochet, Q-A. Do Hoang, M. Kaaniche, D. Powell, Model-based safety analysis of human-robot interaction: The MIRAS walking assistance robot, 2013 IEEE International Conference on Rehabilitation Robotics, Seattle, USA, June 2013, 10.1109/ICORR.2013.6650433.

C36. A. Kumar Pandey, R. Alami, Affordance graph: A framework to encode perspective taking and effort based affordances for day-to-day human-robot interaction, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 2180-2187, November 2013, 10.1109/IROS.2013.6696661.

C37. S. Lemaignan, R. Alami, Explicit knowledge and the deliberative layer: Lessons learned, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp 5700-5707, November 2013, 10.1109/IROS.2013.6697182.

C38. M. Machin, J.P. Blanquart, J. Guiochet, D. Powell, H. Waeselynck, Specifying safety monitors for autonomous systems, The 32nd International Conference on Computer Safety, Reliability and Security SAFECOMP13.

C39. H. Wuwei, S. Daniel, Z. Ran, A Reactive Trajectory Controller for Object Manipulation in Human Robot Interaction, 2013 International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013), Reykjavík, Iceland, pp. 19-28, July 2013, 10.5220/0004427000190028.

C40. M. Saveriano, D. Lee, Invariant Representation for User Independent Motion Recognition, 2013 IEEE RO-MAN: 2013 IEEE International Symposium on Robot and Human Interactive Communication, Gyeongju, Korea, pp. 650-655, August 2013, 10.1109/ROMAN.2013.6628422.

C41. M. Saveriano, D. Lee, Point cloud based dynamical system modulation for reactive avoidance of convex and concave obstacles, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 5380-5387, November 2013, 10.1109/IROS.2013.6697135.

C42. A. Cirillo, P. Cirillo, G. De Maria, C. Natale, S. Pirozzi, A proximity/contact-force sensor for human safety in industrial robot environment, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, pp. 1272-1277, July 2013, 10.1109/AIM.2013.6584269.

C43. A.Cirillo, G. De Maria, C. Natale, S. Pirozzi, A mechatronic approach for robust stiffness estimation of variable stiffness actuators, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, pp. 399-404, July 9-12, 2013, 10.1109/AIM.2013.6584124, (Best conference paper finalist).

C44. S. Rossi, E. Leone, M. Fiore, A. Finzi, F. Cutugno, An extensible architecture for robust multimodal human-robot communication, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, pp. 2208-2213, November 2013, 10.1109/IROS.2013.6696665.

C45. A. Ajoudani, M. Gabiccini, N. G. Tsagarakis, A. Bicchi, Human-like impedance and minimum effort control for natural and efficient manipulation, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 4499-4505, May 2013, 10.1109/ICRA.2013.6631216.

C46. R. Incaini, L. Sestini, M. Garabini, M. G. Catalano, G. Grioli, A. Bicchi, Optimal control and design guidelines for soft jumping robots: Series elastic actuation and parallel elastic actuation in comparison, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 2477-2484, May 2013, 10.1109/ICRA.2013.6630914.

C47. T. Menard, G. Grioli, A. Bicchi, A real time robust observer for an agonist antagonist variable stiffness actuator, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 3988-3993, May 2013, 10.1109/ICRA.2013.6631139.

C48. A. Velasco, G. M. Gasparri, M. Garabini, L. Malagia, P. Salaris, A. Bicchi, Soft-actuators in cyclic motion: analytical optimization of stiffness and pre-load, 2013 IEEE-RAS Conference on Humanoid Robots, in press

C49. M. Stommel, S. Edelkamp, T. Wiedemeyer, M. Beetz, Fractal approximate nearest neighbour search in log-log time, British Machine Vision Conference, Bristol, pp. 1-11, September 2013, 10.5244/C.27.18.

C50. J. Winkler, M. Tenorth, A. Bozcuoglu, M. Beetz, CRAMm – Memories for robots performing everyday manipulation activities, Advances in Cognitive Systems, 2013, in press

Books chapters

Bc1. S. Haddadin, S. Parusel, R. Belder, A. Albu-Schäffer, It is (almost) all about human safety: a novel paradigm for robot design, control, and planning, Computer Safety, Reliability, and Security, Springer Lecture Notes on Computer Science, pp. 602-605, 10.1007/978-3-642-40793-2_19.

Bc2. A. Kumar Pandey, R. Alami, Mightability: a multi-state visuo-spatial reasoning for human-robot interaction, in Experimental Robotics, Springer Tracts in Advanced Robotics, O.Khatib, V. Kumar, G. Sukhatme (Eds.), vol. 79, pp. 49-63, 2014, 10.1007/978-3-642-28572-1_4.

Bc3. S. Lemaignan, R. Alami, A. K. 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”, Springer Intelligent Systems Reference Library, 2012.

Bc4. L. Villani, H. Sadeghian, B. Siciliano, Null-space impedance control for physical human-robot interaction, Proc. of 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, CISM International Centre for Mechanical Sciences Series, no. 544, pp. 193-200, 2013, 10.1007/978-3-7091-1379-0_24.