Publications

2022

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

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

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

Mansfeld, Nico and Keppler, Manuel 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