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SAPHARI is funded under the European Community's 7th Framework Programme
Y4 Publications
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November 2014-October 2015
Journal papers
J1. S. Wolf, G. Grioli, O. Eiberger, W. Friedl, M. Grebenstein, H. Höppner, E. Burdet, D. Caldwell, R. Carloni, M. Catalano, D. Lefeber, S. Stramigioli, N. Tsagaratkis, M. Van Damme, R. Van Ham, B. Vanderborght, L.C. Visser, A. Bicchi, A. Albu- Schäffer “Variable Stiffness Actuators: Review on design and components,” IEEE Transactions on Mechatronics, 2015, 10.1109/TMECH.2015.2501019.
J2. F. Flacco, A. De Luca, “Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties,” Robotics and Autonomous Systems, vol. 70, pp. 191-201, 2015, 10.1016/j.robot.2015.02.008.
J3. F. Flacco, A. De Luca, O. Khatib, “Control of redundant robots under hard joint constraints: Saturation in the null space,” IEEE Transactions on Robotics, vol. 31, no. 3, pp. 637-654, 2015, 10.1109/TRO.2015.2418582.
J4. M. Vendittelli, J.P. Laumond, B. Mishra, “Decidability of robot manipulation planning: Three disks in the plane,” Algorithmic Foundations of Robotics XI, Springer Tracts in Advanced Robotics, vol. 107, pp. 641-657, 2015, Springer, Berlin, 10.1007/978-3-319-16595-0_37.
J5. S. Wolf, T. Bahls, M.Chalon, W. Friedl, M. Grebenstein, H. Höppner, M. Kühne, D. Lakatos, N. Mansfeld, M. Can Özparpucu, F. Petit, J. Reinecke, R. Weitschat, A. Albu-Schäffer, “Soft robotics with Variable Stiffness Actuators: Tough robots for soft human-robot interaction,” in A. Verl, A. Albu-Schäffer, O. Brock, A. Raatz (Eds.), Soft robotics: Transferring Theory to Application, Springer, Berlin, Heidelberg, pp. 231-254, 2015, ISBN: 978-3- 662-44505-1.
J6. D. Lakatos, F. Petit, A. Albu-Schäffer, “Nonlinear oscillations for cyclic movements in human and robotic arms,” IEEE Transactions on Robotics, vol 30, no. 4, pp. 865-879, 2014, 10.1109/TRO.2014.2308371.
J7. F. Petit, A.Dietrich, A. Albu-Schäffer, “Generalizing torque control concepts to variable stiffness robots,” IEEE Robotics & Automation Magazine, 2015, in press.
J8. A. Dietrich, C. Ott, A. Albu-Schäffer, “Overview of null space projections for redundant, torque controlled robots,” International Journal of Robotics Research, vol. 34, no. 11, 2015, 1385-1400, 10.1177/0278364914566516.
J9. F. Petit, W. Friedl, H. Höppner, M. Grebenstein, “Analysis and synthesis of the bidirectional antagonistic variable stiffness mechanism,” IEEE Transactions on Mechatronics, vol. 20, no. 2, pp. 684-695, 2014, 10.1109/TMECH.2014.2321428.
J10. C. Ott, A. Dietrich, A. Albu-Schäffer, “Prioritized multi-task compliance control of redundant manipulators,” Automatica, vol. 53, pp. 416–423, 2015, 10.1016/j.automatica.2015.01.015.
J11. C. Ott, A. Dietrich, D. Leidner, A. Werner, J. Englsberger, B. Henze, S. Wolf, M., Chalon, W. Friedl, A. Beyer, O. EibergeA. Albu Schäffer, “From torque-controlled to intrinsically compliant humanoid robots,” ASME Mechanical Engineering Magazine, vol. 3, no. 2, pp. 7-11, 2015.
J12. N. Kashiri, M. Laffranchi, D. G. Caldwell, N. G. Tsagarakis, “Dynamics and control of an anthropomorphic compliant arm equipped with friction clutches,” IEEE/ASME Transactions on Mechatronics, 2015, in press, 10.1109/TMECH.2015.2497200.
J13. N. Kashiri, J. Lee, N. G. Tsagarakis, M. Van Damme , B. Vanderborght, D. G. Caldwell, “Proxy-based position control of manipulators with passive compliant actuators: stability analysis and experiments,” Robotics and Autonomous Systems, 2015, in press, 10.1016/j.robot.2015.09.003.
J14. N. Karavas, A. Ajoudani, N.G. Tsagarakis, J. Saglia, A. Bicchi, D.G. Caldwell, “Tele-impedance based assistive control for a compliant knee exoskeleton: Stiffness augmentation and motion assistance,” Robotics and Autonomous Systems, vol. 73, part A , pp. 78-90, 2015, 10.1016/j.robot.2014.09.027.
J15. G. Grioli, S. Wolf, M. Garabini, M.G. Catalano, E. Burdet, D.G. Caldwell, R. Carloni, W. Friedl, M. Grebenstein, M. Laffranchi, D. Lefeber, S. Stramigioli, N.G. Tsagarakis, M. Van Damme, B. Vanderborght, A. Albu-Schäffer, A. Bicchi, “Variable Stiffness Actuators: The user’s point of view,“ Int. J. Robotics Research, vol. 34, no. 6, pp. 727-743, 2015, 10.1177/0278364914566515.
J16. J. Guiochet, “Hazard analysis of human-robot interactions with HAZOP-UML,” Safety Science, 2015, in press.
J17. A.K. Pandey, R. Alami, K. Kawamura, “Developmental social robotics: An applied perspective,” Int. Journal on Social Robotics, vol .7, no. 4, pp. 417-420, 2015, 10.1007/s12369-015-0312-0.
J18. A.K. Pandey, R. Alami, “Towards human-level semantics understanding of human-centered object manipulation tasks for HRI: reasoning about effect, ability, effort and perspective taking,” Int. Journal on Social Robotics, vol. 6, no. 4, pp. 593-620, 2014,10.1007/s1236 9-014-0246-y.
J19. M. Stommel, M. Beetz, W.L. Xu, “Model-free detection, encoding, retrieval and visualisation of human poses from Kinect data,” IEEE/ASME Transactions on Mechatronics, vol. 20, no. 2, pp. 865-875, 2015, 10.1109/TMECH.2014.2322376.
J20. M. Staffa, D. Perfetto, S. Rossi, “Engineering central pattern generated behaviors for the deployment of robotic systems,” Neurocomputing, Special Issue on Advances on Biological Rhythmic Pattern Generation: Experiments, Algorithms and Applications, vol. 170, pp. 98–112, 2015,10.1016/j.neucom.2015.03.0 94.
J21. M. De Gregorio, M. Giordano, S. Rossi and M. Staffa, “Experimenting WNN support in object tracking system,” Neurocomputing, Special Issue on Weightless Neural Systems, 2015, neucom-D-14-020032015, in press.
J22. F. Ficuciello, L. Villani, B. Siciliano, “Variable impedance control of redundant manipulators for intuitive human-robot physical interaction,” IEEE Transactions on Robotics, Vol. 31, No. 4, pp. 850-863, 2015, 10.1109/TRO.2015.2430053.
J23. A. Cirillo, F. Ficuciello, C. Natale, S. Pirozzi, “A conformable force/tactile skin for physical human-robot interaction,” IEEE Robotics and Automation Letters, 2016, 10.1109/LRA.2015.2505061, in press.
Conference papers
C2. E. Magrini, F. Flacco, A. De Luca, “Control of generalized contact motion and force in physical human- robot interaction,” 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, USA, May 2015, pp. 2298- 2304, 10.1109/ICRA.2015.7139504.
C3. M. Cefalo, G. Oriolo, “Task-constrained motion planning for underactuated robots,” 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, USA, May 2015, pp. 2965-2970, 10.1109/ICRA.2015.7139605.
C4. F. Flacco, A. De Luca, “Unilateral constraints in the Reverse Priority redundancy resolution method,” 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, September-October 2015, pp. 2564- 2571.
C5. G. Buondonno, A. De Luca, “A recursive Newton-Euler algorithm for robots with elastic joints and its application to control,” 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, September-October 2015, pp. 5526-5532.
C6. D. Lakatos, A. Albu-Schäffer, “Neuron model interpretation of a cyclic motion control concept,” 2014 IEEE-RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Sāo Paulo, Brazil, August 2014, pp. 905-910, 10.1109/BIOROB.2014.6913 896.
C7. D. Lakatos, C. Rode, A. Seyfarth, A. Albu-Schäffer, “Design and control of compliantly actuated bipedal running robots: Concepts to exploit natural system dynamics,” 5th IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, November 2014, pp. 930-937, 10.1109/HUMANOIDS.2014.7041475.
C8. N. Mansfeld, S. Haddadin, “A comparison of braking strategies for elastic joint robots,” 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, USA, May 2015, pp. 789-796, 10.1109/ICRA.2015.7139268.
C9. D. Lakatos, D.Seidel, W. Friedl, A. Albu-Schäffer, “Targeted jumping of compliantly actuated hoppers based on discrete planning and switching control,” 2015 IEEE/RSJ International Conference of Intelligent Robots and Systems, Hamburg, Germany, September-October 2015, pp. 5802-5808.
C10. M.C. Özparpucu, M. Can, A. Albu-Schäffer, “Optimal control strategies for maximizing the performance of variable stiffness joints with nonlinear springs,” 2014 IEEE International Conference on Decision and Control, Los Angeles, USA, December 2014, pp. 1409-1416, 10.1109/CDC.2014.7039599.
C11. N. Kashiri, G. Medrano-Cerda, N.G. Tsagarakis, M. Laffranchi, D.G. Caldwell, "Damping control of an intrinsic variable damping compliant actuator," 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, USA, May 2015, pp. 850-856, 2015, 10.1109/ICRA. 2015.7139277.
C12. L. Vo-Gia, N. Kashiri, F. Negrello, N.G. Tsagarakis, D.G. Caldwell, “Development of a 7DOF soft manipulator arm for the compliant humanoid robot COMAN," 2014 IEEE Int. Conf. on Robotics and Biomimetics, Bali, Indonesia, December 2014, pp. 1106-1111, 10.1109/ROBI O.2014.70904 80.
C13. H. Dallali, J. Lee, N. Tsagarakis, D. G. Caldwell, “Experimental study on linear state feedback control of humanoid robots with elastic joints,” IFAC Symposium on Robot Control (SYROCO 2015), Salvador, Brazil, August 2015, pp. 138-143, 2015.
C14. J. Lee, P.-H. Chang, “Redundancy resolution for dual-arm robots inspired by human-asymmetric bimanual action: Formulation and experiments," 2015 IEEE International Conference on Robotics and Automation, Seattle, USA, May 2015, pp. 6058-6065, 2015, 10.1109/ICRA. 2015.7140049.
C15. M. Gharbi, R. Lallement, R. Alam, “Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search,” 2015 IEEE/RSJ International Conference of Intelligent Robots and Systems, Hamburg, Germany, September-October 2015, pp. 6360-6365.
C16. J. Waldhart, M. Gharbi, R. Alami, “Planning handovers involving humans and robots in constrained environment,” 2015 IEEE/RSJ International Conference of Intelligent Robots and Systems, Hamburg, Germany, September-October 2015, pp. 6473-6478.
C17. M. Gharbi, P.-V. Paubel, A. Clodic, O. Carreras, R. Alami, J.-M. Cellier, “Toward a better understanding of the communication cues involved in a human-robot ,” 24th International Symposium on Robot and Human Interactive Communication (RO-MAN2015), Kobe, Japan, September-October 2015, pp. 319-324.
C18. T. Wiedemeyer, F. Bálint-Benczédi, M. Beetz, “Pervasive ‘calm’ perception for autonomous robotic agents,” Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2015), Instambul, Turkey, May 2015, pp. 871-879, ISBN: 978-1-4503-3413-6.
C19. J. Winkler, M. Beetz, “Generalized plan design and entity description for autonomous mobile manipulation in open environments," Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2015), Instambul, Turkey, May 2015, pp. 1891-1892, ISBN: 978-1-4503-3413-6.
C20. M. Beetz, G. Bartels, A. Albu-Schäffer, F. Bálint-Benczédi, R. Belder, S. Haddadin, A. Maldonado, N. Mansfeld, T. Wiedemeyer, R. Weitschat, J. Worch, “Robotic agents capable of natural and safe physical interaction with human co-workers,” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September-October 2015.
C21. A. Zube, “Combined workspace monitoring and collision avoidance for mobile manipulators”, 2015 IEEE Int. Conf. on Emerging Technologies and Factory Automation, Luxembourg, September 2015, 10.1109/ETFA.2015.7301526.
C22. A. Zube, “Cartesian nonlinear model predictive control of redundant manipulators considering obstacles,” 2015 IEEE Int. Conf. On Industrial Technology, Seville, Spain, March 2015, pp. 137-142.
C23. R. Soloperto, M. Saveriano and D. Lee, “A bidirectional invariant representation of motion for gesture recognition and reproduction,” 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, USA, May 2015, pp. 6146-6152, 2015, 10.1109/ICRA.2015.7140062.
C24. M. Saveriano, S. An and D. Lee, “Incremental kinesthetic teaching of end- effector and null-space motion primitives,” 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, USA, May 2015, pp. 3570-3575, 2015, 10.1109/ICRA. 2015.7139694.
C25. M. Machin, F. Dufosse, J. Guiochet, D. Powell, M. Roy, H. Waeselynck, “Model-checking and game theory for the synthesis of safety rules,” 16th IEEE International Symposium on High Assurance Systems Engineering, Daytona Beach, USA, December 2015, pp. 36-43, 2015, 0.1109/HASE.2 015.15.
C26. C. Yang, P. Liang, Z. Li, A. Ajoudani, C. Su, A. Bicchi, “Teaching by demonstration on dual-arm robot using HRI variable stiffness transferring,” 2015 IEEE International Conference on Robotics and Biomimetics, Zhuhai, China, December 2015.
C27. A. Velasco, M. Garabini, M.G. Catalano, A. Bicchi, “Soft actuation in cyclic motions: Stiffness profile optimisation for energy efficiency,” 15th IEEE RAS International Conference on Humanoid Robots, Seoul, Korea, November 2015.
C28. S. Rossi, M. Staffa, M. Giordano, M. De Gregorio, A. Rossi, A. Tamburro, C. Vellucci, “Robot head movements and human effort in the evaluation of tracking performance,” 24th International Symposium on Robot and Human Interactive Communication (RO-MAN2015), Kobe, Japan, September-October 2015, pp. 791-796.
C29. A. Rossi, M. Staffa, A. Origlia, S. Rossi, “An analysis of perceptual cues in robot group selection tasks,” 24th International Symposium on Robot and Human Interactive Communication (RO-MAN2015), Kobe, Japan, September-October 2015, pp. 588-593.
C30. M. Staffa, S. Rossi, M. Giordano, M. De Gregorio, B. Siciliano, “Segmentation performance in tracking deformable objects via WNNs,” 2015 IEEE International Conference on Robotics and Automation, Seattle, USA, May 2015, pp. 2462-2467, 2015, 10.1109/ICRA.2015.7139528.
C31. F. Ficuciello, L. Villani, B. Siciliano, “Redundancy resolution in human robot co-manipulation with Cartesian impedance control,” Experimental Robotics - The14th International Symposium, Springer Tracts in Advanced Robotics (STAR), vol. 109, 2016, ISBN: 978-3319237770.
C32. H. Sadeghian, L. Villani, Z. Kamranian, A. Karami, “Visual servoing with safe interaction using image moments,” 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September-October 2015, pp. 5479-5485.
C33. R. Caccavale, A. Finzi, “Plan execution and attentional regulations for flexible human-robot interaction,” 2015 IEEE International Conference on System, Man, & Cybernetics, Hong Kong, October 2015.
C34. G.M. Gasparri, M. Garabini, L. Pallottino, L. Malagia, M. Catalano, G. Grioli, A. Bicchi, “Variable stiffness control for oscillation damping,” IEEE International Conference of Intelligent Robots and Systems, Hamburg, Germany, September-October 2015, pp. 6543-6550.
