Publications

2024

Trajectory Prediction for Heterogeneous Agents: A Performance Analysis on Small and Imbalanced Datasets

Trajectory Prediction for Heterogeneous Agents: A Performance Analysis on Small and Imbalanced Datasets

Tiago Rodrigues de Almeida, Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Johannes A. Stork, Martin Magnusson and Achim J. Lilienthal. IEEE Robotics and Automation Letters
Receding Horizon Re-Ordering of Multi-Agent Execution Schedules

Receding Horizon Re-Ordering of Multi-Agent Execution Schedules

Alexander Berndt, Niels van Duijkeren, Luigi Palmieri, Alexander Kleiner and Tamás Keviczky. IEEE Transactions on Robotics
Dynamic Coupling for Underactuated Compliant Arms With Not Well-Defined Relative Degree

Dynamic Coupling for Underactuated Compliant Arms With Not Well-Defined Relative Degree

Michele Pierallini, Franco Angelini, and Manolo Garabini. IEEE Transactions on Systems, Man, and Cybernetics: Systems
A general approach for generating artificial human-like motions from functional components of human upper limb movements

A general approach for generating artificial human-like motions from functional components of human upper limb movements

Marco Baracca, Giuseppe Averta and Matteo Bianchi. Control Engineering Practice 148
ROS-Causal A ROS-based Causal Analysis Framework for Human-Robot Interaction Applications

ROS-Causal A ROS-based Causal Analysis Framework for Human-Robot Interaction Applications

Luca Castri, Gloria Beraldo, Sariah Mghames, Marc Hanheide, and Nicola Bellotto. Accepted by the "Causal-HRI: Causal Learning for Human-Robot Interaction" workshop at the 2024 ACM/IEEE International Conference on Human-Robot Interaction (HRI)
Lang3DSG: Language-based contrastive pre-training for 3D scene graph prediction

Lang3DSG: Language-based contrastive pre-training for 3D scene graph prediction

Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, and Timo Ropinski. Proceedings of the 2024 International Conference on 3D Vision (3DV)

2023

A provably stable iterative learning controller for continuum soft robots

A provably stable iterative learning controller for continuum soft robots

Michele Pierallini, Francesco Stella, Franco Angelini, Bastian Deutschmann, Josie Hughes, Antonio Bicchi, Manolo Garabini, and Cosimo Della Santina. IEEE Robotics and Automation Letters
A Data-Efficient Approach for Long-Term Human Motion Prediction Using Maps of Dynamics

A Data-Efficient Approach for Long-Term Human Motion Prediction Using Maps of Dynamics

Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Achim J. Lilienthal, and Martin Magnusson. Proceedings of the 5th LHMP Workshop held in conjunction with 40th IEEE International Conference on Robotics and Automation (ICRA)
Towards Long-term Autonomy: A Perspective from Robot Learning

Towards Long-term Autonomy: A Perspective from Robot Learning

Zhi Yan, Li Sun, Tomas Krajnik, Tom Duckett, and Nicola Bellotto. Proceedings of AAAI-23 Bridge Program on AI & Robotics
A Concise Overview of Safety Aspects in Human-Robot Interaction

A Concise Overview of Safety Aspects in Human-Robot Interaction

Mazin Hamad, Simone Nertinger, Robin J. Kirschner, Luis Figueredo, Abdeldjallil Naceri, and Sami Haddadin. Proceedings of Human-Friendly Robotics 2023: 16th International Workshop
CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction

CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction

Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner, Luigi Palmieri, Kai O. Arras, Achim J. Lilienthal, and Martin Magnusson. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

Alexandra Velasco Vivas, Antonello Cherubini, Manolo Garabini, Paolo Salaris, and Antonio Bicchi. IEEE Transactions On Systems, Man, And Cybernetics: Systems
Survey of maps of dynamics for mobile robots

Survey of maps of dynamics for mobile robots

Tomasz Piotr Kucner, Martin Magnusson, Sariah Mghames, Luigi Palmieri, Francesco Verdoja, Chittaranjan Srinivas Swaminathan, Tomáš Krajník, Erik Schaffernicht, Nicola Bellotto, Marc Hanheide, and Achim J. Lilienthal. The International Journal of Robotics Re...
Grasp it Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shapes Decomposition and Human Data for Grasping Unknown Objects

Grasp it Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shapes Decomposition and Human Data for Grasping Unknown Objects

Alessandro Palleschi, Franco Angelini, Chiara Gabellieri, Do Won Park, Lucia Pallottino, Antonio Bicchi, and Manolo Garabini. IEEE Transactions on Robotics
Optimal Control for Articulated Soft Robots

Optimal Control for Articulated Soft Robots

Saroj Prasad Chhatoi, Michele Pierallini, Franco Angelini, Carlos Mastalli, and Manolo Garabini. IEEE Transactions on Robotics
Iterative Learning Control for Compliant Underactuated Arms

Iterative Learning Control for Compliant Underactuated Arms

Michele Pierallini, Franco Angelini, Riccardo Mengacci, Alessandro Palleschi, Antonio Bicchi, and Manolo Garabini. IEEE Transactions on Systems, Man, and Cybernetics: Systems
A multi-modal under-sensorized wearable system for optimal kinematic and muscular tracking of human upper limb motion

A multi-modal under-sensorized wearable system for optimal kinematic and muscular tracking of human upper limb motion

Paolo Bonifati, Marco Baracca, Mariangela Menolotto, Giuseppe Averta, and Matteo Bianchi. Sensors
Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments

Proactive Model Predictive Control with Multi-Modal Human Motion Prediction in Cluttered Dynamic Environments

Tiago Rodrigues de Almeida, Andrey Rudenko, Tim Schreiter, Yufei Zhu, Eduardo Gutierrez Maestro, Lukas Heuer, Luigi Palmieri, Andrey Rudenko, Anna Mannucci, Martin Magnusson, and Kai Oliver Arras. Proceedings of the IROS Conference
Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver

Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver

Tim Schreiter, Lucas Morillo-Mendez, Ravi T. Chadalavada, Andrey Rudenko, Erik Billing, Martin Magnusson, Kai O. Arras, and Achim J. Lilienthal. Proceedings of Ro-man Conference, 2023
Data-driven Grasping and Pre-grasp Manipulation Using Hierarchical Reinforcement Learning with Parameterized Action Primitives

Data-driven Grasping and Pre-grasp Manipulation Using Hierarchical Reinforcement Learning with Parameterized Action Primitives

Shih-Min Yang, Martin Magnusson, Johannes Andreas Stork, and Todor Stoyanov. Proceedings of IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation
A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading

A Task-Aware Lightweight Link Design Framework for Robots Under Dynamic Loading

Mehmet C. Yildirim, Edgar Pisano, Mazin Hamad, Valentin Le Mesle, Abdalla Swikir, and Sami Haddadin. Proceedings of IEEE-RAS International Conference on Humanoids Robots (Humanoids)
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, and Sami Haddadin. IEEE Robotics and Automation Letters
A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration

Seyed Ali Baradaran Birjandi, Harshit Khurana, Aude Billard, and Sami Haddadin. Proceedings of 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
S∗ : On Safe and Time Efficient Robot Motion Planning

S∗ : On Safe and Time Efficient Robot Motion Planning

Riddhiman Laha, Wenxi Wu, Ruiai Sun, Nico Mansfeld, Luis F.C. Figueredo, and Sami Haddadin. Proceedings of 2023 International Conference on Robotics and Automation (ICRA)
Fast yet predictable braking manoeuvers for real-time robot control

Fast yet predictable braking manoeuvers for real-time robot control

Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba, Nico Mansfeld, Saeed Abdolshah, Abdalla Swikir and Sami Haddadin. Proceedings of IFAC World Congress
Cross-coupling stiffness for natural goal-directed robot motion

Cross-coupling stiffness for natural goal-directed robot motion

Dennis Ossadnik and Sami Haddadin. Proceedings of IFAC world congress
Learning optimal controllers: A dynamical motion primitive approach

Learning optimal controllers: A dynamical motion primitive approach

Hugo T.M. Kussaba, Abdalla Swikir, Fan Wu, Anastasija Demerdjieva, Gitta Kutyniok, and Sami Haddadin. IFAC-PapersOnLine
SGRec3D: Self-Supervised 3D Scene Graph Learning via Object-Level Scene Reconstruction

SGRec3D: Self-Supervised 3D Scene Graph Learning via Object-Level Scene Reconstruction

Sebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, and Timo Ropinski. Yash Goel, Narunas VSebastian Koch, Pedro Hermosilla, Narunas Vaskevicius, Mirco Colosi, and Timo Ropinski. Proceedings of IEEE Winter Conference on Applications of...
Semantically Informed MPC for Context-Aware Robot Exploration

Semantically Informed MPC for Context-Aware Robot Exploration

Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Nived Chebrolu, Kai Oliver Arras, and Cyrill Stachniss. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
THOR-Magni: Comparative Analysis of Deep Learning Models for Role-Conditioned Human Motion Prediction

THOR-Magni: Comparative Analysis of Deep Learning Models for Role-Conditioned Human Motion Prediction

Tiago Rodrigues de Almeida, Andrey Rudenko, Tim Schreiter, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Tomasz P Kucner, Oscar Martinez Mozos, Martin Magnusson, Luigi Palmieri, Kai O Arras, and Achim J Lilienthal. Proceedings of the IEEE/CVF...
Evaluation of Computer Vision-Based Person Detection on Low-Cost Embedded Systems

Evaluation of Computer Vision-Based Person Detection on Low-Cost Embedded Systems

Francesco Pasti and Nicola Bellotto. Proceedings of the 18th International Conference on Computer Vision Theory and Applications (VISAPP)
Efficient Causal Discovery for Robotics Applications

Efficient Causal Discovery for Robotics Applications

Luca Castri, Sariah Mghames, and Nicola Bellotto. Proceedings of the Italian Conference on Robotics and Intelligent Machines (I-RIM 3D)
From continual learning to causal discovery in robotics

From continual learning to causal discovery in robotics

Luca Castri, Sariah Mghames, and Nicola Bellotto. Proceedings of AAAI Bridge Program on Continual Causality
Enhancing Causal Discovery from Robot Sensor Data in Dynamic Scenarios

Enhancing Causal Discovery from Robot Sensor Data in Dynamic Scenarios

Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto. Proceedings of the Conference on Causal Learning and Reasoning (CLeaR)
Qualitative Prediction of Multi-Agent Spatial Interactions

Qualitative Prediction of Multi-Agent Spatial Interactions

Sariah Mghames, Luca Castri, Marc Hanheide, and Nicola Bellotto. Proceedings of the IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
A Neuro-Symbolic Approach for Enhanced Human Motion Prediction

A Neuro-Symbolic Approach for Enhanced Human Motion Prediction

Sariah Mghames, Luca Castri, Marc Hanheide, and Nicola Bellotto. Proceedings of the International Joint Conference on Neural Networks (IJCNN)
Human-Flow-Aware Long-Term Mobile Robot Task Planning Based on Hierarchical Reinforcement Learning

Human-Flow-Aware Long-Term Mobile Robot Task Planning Based on Hierarchical Reinforcement Learning

Yuchen Liu, Luigi Palmieri, Ilche Georgievski, and Marco AielIo. IEEE Robotics and Automation Letters
A Benchmark for Multi-Robot Planning in Realistic, Complex and Cluttered Environments

A Benchmark for Multi-Robot Planning in Realistic, Complex and Cluttered Environments

Simon Schaefer, Luigi Palmieri, Lukas Heuer, Rüdiger Dillmann, Sven Koenig, and Alexander Kleiner. Proceedings of IEEE International Conference on Robotics and Automation

2022

A Solution to Adaptive Mobile Manipulator Throwing

A Solution to Adaptive Mobile Manipulator Throwing

Yang Liu, Aradhana Nayak, and Aude Billard. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Insights on Oscillations and Impulses in Variable Impedance Control

Insights on Oscillations and Impulses in Variable Impedance Control

Giorgio Simonini, Rachele Nebbia Colomba, Chiara Sammarco, Franco Angelini, Antonio Bicchi, and Mathew Jose Pollayil. Proceedings of the I-RIM Conference 2022
Optimal electromyographic sensing for whole-body muscular activity estimation

Optimal electromyographic sensing for whole-body muscular activity estimation

Marco Baracca, Guiseppe Averta, and Matteo Bianchi. Proceedings of the I-RIM Conference 2022
Risk space modelling for human-robot collaboration in a shared intralogistics scenario

Risk space modelling for human-robot collaboration in a shared intralogistics scenario

Elena Stracca, Giorgio Grioli, Lucia Pallottino, and Paolo Salaris. Proceedings of the I-RIM Conference 2022
Considerations on possible approaches to measure risk for obstacle avoidance

Considerations on possible approaches to measure risk for obstacle avoidance

Lorenzo Paiola, Giorgio Grioli, and Antonio Bicchi. Proceedings of the I-RIM Conference 2022
An Information-aware Lyapunov-based MPC for autonomous robots

An Information-aware Lyapunov-based MPC for autonomous robots

Olga Napolitano, Lucia Pallottino, Paolo Salaris, and Daniele Fontanelli. Proceedings of the I-RIM Conference 2022
Alignability maps for ensuring high-precision localization

Alignability maps for ensuring high-precision localization

Manuel Castellano-Quero, Tomasz Piotr Kucner, and Martin Magnusson. 13th IROS Workshop on Planning, Perception, Navigation for Intelligent Vehicles
Efficient 2D LIDAR-Based Map Updating For Long-Term Operations in Dynamic Environments

Efficient 2D LIDAR-Based Map Updating For Long-Term Operations in Dynamic Environments

Elisa Stefanini, Enrico Ciancolini, Alessandro Settimi, and Lucia Pallottino. Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Estimation of whole-body muscular activation from an optimal set of scarce electromyographic recordings

Estimation of whole-body muscular activation from an optimal set of scarce electromyographic recordings

Marco Baracca, Guiseppe Averta, and Matteo Bianchi. Proceedings of International Workshop on Human-Friendly Robotics
Optimal reconstruction of human motion from scarce multi-modal data

Optimal reconstruction of human motion from scarce multi-modal data

Giuseppe Averta, Matilde Iuculano, Paolo Salaris, and Matteo Bianchi. IEEE Transactions on Human-Machine Systems
Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Functional Mode Switching for Safe and Efficient Human-Robot Interaction

Petr Svarny, Mazin Hamad, Alexander Kurdas, Matej Hoffmann, Saeed Abdolshah, and Sami Haddadin. Proceedings of 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
Robust Cartesian Kinematics Estimation for Task-Space Control Systems

Robust Cartesian Kinematics Estimation for Task-Space Control Systems

Seyed Ali Baradaran Birjandi, Niels Dehio, Abderrahmane Kheddar, and Sami Haddadin. Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Real-time IMU-Based Learning: a Classification of Contact Materials

Real-time IMU-Based Learning: a Classification of Contact Materials

Edmundo Fortunić, Abdalla Swikir, Saeed Abdolsah, and Sami Haddadin. Proceedings of 2022 IEEE/RSJ International Conference
Causal discovery of dynamic models for predicting human spatial interactions

Causal discovery of dynamic models for predicting human spatial interactions

Luca Castri, Sariah Mghames, Marc Hanheide, and Nicola Bellotto. Proceedings of International Conference on Social Robotics
The Effect of Anthropomorphism on Trust in an Industrial Human-Robot Interaction

The Effect of Anthropomorphism on Trust in an Industrial Human-Robot Interaction

Tim Schreiter, Lucas Morillo-Mendez, Ravi Teja Chadalavada, Andrey Rudenko, Erik Alexander Billing and Achim J. Lilienthal. RO-MAN Workshop on "Trust, Acceptance and Social Cues in Human-Robot Interaction" (SCRITA)
The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized

The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized

Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu, Eduardo Gutierrez Maestro, Lucas Morillo-Mendez, Andrey Rudenko, Tomasz P. Kucner, Oscar Martinez Mozos, Martin Magnusson, Luigi Palmieri, Kai O. Arras, and Achim J. Lilienthal. RO-MAN Workshop ``Towards...
Towards Self-Supervised Pre-Training of 3DETR for Label-Efficient 3D Object Detection

Towards Self-Supervised Pre-Training of 3DETR for Label-Efficient 3D Object Detection

Rishabh Jain, Narunas Vaskevicius, and Thomas Brox. Workshop onTransformers for Vision at IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

Predicting Dense and Context-aware Cost Maps for Semantic Robot Navigation

Yash Goel, Narunas Vaskevicius, Luigi Palmieri, Chebrolu Nived, and Stachniss Cyrill. Workshop on Perception and Navigation for Autonomous Robotics in Unstructured and Dynamic Environments at IEEE International Conference on Intelligent Robots and Systems...
A Solution to Adaptive Mobile Manipulator Throwing

A Solution to Adaptive Mobile Manipulator Throwing

Yang Liu, Aradhana Nayak, and Aude Billard. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS)

Benchmarking the utility of Maps of Dynamics for Human-aware Motion Planning

Chittaranjan Swaminathan, Tomasz Piotr Kucner, Anna Mannucci, Martin Magnusson, Luigi Palmieri, Sergi Molina, Federico Pecora, and Achim J. Lilienthal. Frontiers in Robotics and AI
Global Safety Characteristics of Wheeled Mobile Robots

Global Safety Characteristics of Wheeled Mobile Robots

Mansfeld, Nico and Gómez Peña, Guillermo and Hamad, Mazin and Kurdas, Alexander A. and Abdolshah, Saeed and Sami Haddadin. IEEE 18th International Conference on Automation Science and Engineering (IEEE CASE2022)
Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction

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

Thomas Steinecker, and Alexander Kurdas, and Nico Mansfeld, and Mazin Hamad, and Robin Jeanne Kirschner, and Saeed Abdolshah and Sami Haddadin. Proceedings IEEE International Conference on Robotics and Automation (ICRA)
An MPC Framework For Planning Safe & Trustworthy Robot Motions

An MPC Framework For Planning Safe & Trustworthy Robot Motions

Moritz Eckhoff, and Robin Jeanne Kirschner, and Elena Kern, and Saeed Abdolshah and Sami Haddadin. IEEE International Conference on Robotics and Automation (ICRA)
Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf

Comparing Digital Implementations of Torque Control for BLDC Motors with Trapezoidal Back-Emf

Pozo Fortunić, Edmundo and Swikir, Abdalla and Abdolsah, Saeed and Sami Haddadin. The 2022 American Control Conference (ACC)
BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots

Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu, Abdalla Swikir, Hugo T. M. Kussaba, Saeed Abdolshah and Sami Haddadin. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
The Atlas Benchmark: an Automated Evaluation Framework for HumanMotion Prediction

The Atlas Benchmark: an Automated Evaluation Framework for HumanMotion Prediction

Andrey Rudenko, Luigi Palmieri, Wanting Huang, Achim J Lilienthal, and Kai O. Arras. Proc. of the IEEE Int. Symp. on Robot and Human Interactive Comm. (RO-MAN)
Voting and Attention-based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds

Voting and Attention-based Pose Relation Learning for Object Pose Estimation from 3D Point Clouds

Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov. IEEE Robotics and Automation Letters
From Human Perception and Action Recognition to Causal Understanding of Human-Robot Interaction in Industrial Environments

From Human Perception and Action Recognition to Causal Understanding of Human-Robot Interaction in Industrial Environments

Stefano Ghidoni, Matteo Terreran, Daniele Evangelista, Emanuele Menegatti, Christian Eitzinger, Enrico Villagrossi, Nicola Pedrocchi, Nicola Castaman, Marcin Malecha, Sariah Mghames, Luca Castri, Marc Hanheide and Nicola Bellotto. Ital-IA 2022
Learning with few examples the semantic description of novel human-inspired grasp strategies from RGB data

Learning with few examples the semantic description of novel human-inspired grasp strategies from RGB data

Lorenzo Collodi, Davide Bacciu, Matteo Bianchi, Giuseppe Averta. IEEE Robotics and Automation Letters
Context-Aware Grasp Generation in Cluttered Scenes

Context-Aware Grasp Generation in Cluttered Scenes

Dinh-Cuong Hoang, Johannes A. Stork, and Todor Stoyanov. IEEE Robotics and Automation Letters
CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy

CorAl: Introspection for robust radar and lidar perception in diverse environments using differential entropy

Daniel Adolfsson, Manuel Castellano-Quero, Martin Magnusson, Achim J. Lilienthal, and Henrik Andreasson. Robotics and Autonomous Systems (vol. 155)
High-Level Planning for Object Manipulation with Multi Heterogeneous Robots in Shared Environments

High-Level Planning for Object Manipulation with Multi Heterogeneous Robots in Shared Environments

Allessandro Palleschi, George Jose Pollayil, Mathew Jose Pollayil, Manolo Garabini, and Lucia Pallottino. IEEE Robotics and Automation Letters
Expectable Motion Unit: Avoiding Hazards From Human Involuntary Motions in Human-Robot Interaction

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

Robin Jeanne Kirschner, Henning Mayer, Lisa Burr, Nico Mansfeld, Saeed Abdolshah, Sami Haddadin. IEEE Robotics and Automation Letters
Information-aware Lyapunov-based MPC in a feedback-feedforward control strategy for autonomous robots

Information-aware Lyapunov-based MPC in a feedback-feedforward control strategy for autonomous robots

Olga Napolitano, Daniele Fontanelli, Lucia Pallottino, and Paolo Salaris. IEEE Robotics and Automation Letters

2021

Coordinated motion generation and object placement: a reactive planning and landing approach

Coordinated motion generation and object placement: a reactive planning and landing approach

Riddhiman Laha, Jonathan Vorndamme, Luis F.C. Figueredo, Zheng Qu, Abdalla Swikir, Christoph Jähne, and Sami Haddadin. Proceedings of 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk

ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk

Dennis Ossadnik, Elisabeth Jensen, and Sami Haddadin. Proceedings 2021 IEEE International Conference on Robotics and Automation (ICRA)
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk

Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk

Dennis Ossadnik, Elisabeth Jensen, and Sami Haddadin. Proceedings 2021 IEEE International Conference on Robotics and Automation (ICRA)
Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach

Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach

Nico Mansfeld, Manuel Keppler and Sami Haddadin. IEEE Robotics and Automation Letters
Atlas: a Benchmarking Tool for Human Motion Prediction Algorithms

Atlas: a Benchmarking Tool for Human Motion Prediction Algorithms

Andrey Rudenko, Wanting Huang, Luigi Palmieri, and Kai O. Arras. Proceedings RSS 2021
Benchmarking Sampling-based Motion Planning Pipelines for Wheeled Mobile Robots

Benchmarking Sampling-based Motion Planning Pipelines for Wheeled Mobile Robots

Eric Heiden, Luigi Palmieri, Leonard Bruns, Kai O. Arras, Gaurav S. Sukhatme, and Sven Koenig. ICAPS 2021
Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study

Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study

Narunas Vaskevicius, Robert Schirmer and Kai O. Arras. Proceedings IROS 2021
Learning to prevent grasp failure with soft hands: from on-line prediction to dual-arm grasp recovery

Learning to prevent grasp failure with soft hands: from on-line prediction to dual-arm grasp recovery

Giuseppe Averta, Federica Barontini, Irene Valdambrini, Paolo Cheli, Davide Bacciu, Matteo Bianchi. Advanced Intelligent Systems