Publications
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2020
- Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics
- Comprehensive development, implementation and evaluation of industrial exoskeletons
- Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work
- Learning Robust Task Priorities and Gains for Control of Redundant Robots
- Lifting Activity Assessment Using Kinematic Features and Neural Networks
- Toward Common Metrics for Humanoid Robot Telexistence Evaluation Networks
- Recent Advances in Human-Robot Collaboration Towards Joint Action
- Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning
- A Novel Sensorised Insole for Sensing Feet Pressure Distributions
- Human Movement and Ergonomics: an Industry-Oriented Dataset for Collaborative Robotics
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2019
- Humanoid Whole-Body Movement Optimization from Retargeted Human Motions
- A Multi-Mode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot
- A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
- A Human Wearable Framework for Physical Human-Robot Interaction
- Trajectory Advancement for Robot Stand-up with Human Assistance
- Trajectory Advancement during Human-Robot Collaboration
- Whole-Body Geometric Retargeting for Humanoid Robots
- Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance
- Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
- Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work
- Policy search in continuous action domains: An overview
- Natural Myocontrol in a Realistic Setting: a Comparison Between Static and Dynamic Data Acquisition
- Activity Recognition for Ergonomics Assessment of Industrial Tasks With Automatic Feature Selection
- Multi-modal Intention Prediction with Probabilistic Movement Primitives
- Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms
- Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques
- Telexistence and Teleoperation for Walking Humanoid Robots
- Towards Partner-Aware Humanoid Robot Control Under Physical Interactions
- Assessing and improving human movements using sensitivity analysis and digital human simulation
- Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition
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2018
- A Plenum-Based Calibration Device for Tactile Sensor Arrays
- Contact Force and Joint Torque Estimation Using Skin
- Exploiting Friction in Torque Controlled Humanoid Robots
- Velocity-Curvature Patterns Limit Human–Robot Physical Interaction
- Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller
- The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction
- Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton
- A survey on policy search algorithms for learning robot controllers in a handful of trials
- Optimizing Contextual Ergonomics Models in Human-Robot Interaction
- Co-manipulation with a library of virtual guiding fixtures
- Intelligent Human-Robot Collaboration with Prediction and Anticipation
- Human-Robot Interaction - Introduction to the Special Theme
- Progress and Prospects of the Human-Robot Collaboration
- Free Simulation Software and Library
- Robust real-time whole-body motion retargeting from human to humanoid
- Learning robust task priorities of QP-based whole-body torque controllers
- Prediction of Human Whole-Body Movements with AE-ProMPs
- A Variational Time Series Feature Extractor for Action Prediction
- Ethical and Social Considerations for the introduction of Human-Centered Technologies at Work
- Objective and Subjective Effects of Passive Exoskeleton on Overhead Work (Oral Presentation at 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018)
- Online Activity Recognition for Automatic Ergonomics Assessment
- Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project (Oral presentation at 9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy)
- Activity recognition with multiple wearable sensors for industrial applications
- Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller
- Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers
- A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
- Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
- Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation
- Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search
- Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards
- Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics
- Whole-Body Compliant Control of iCub: first results with OpenSoT
- Limbo: A Flexible High-performance Library for Gaussian Processes modeling and Data-Efficient Optimization
- Predictability, force, and (anti)resonance in complex object control
- Assesing and improving human movements using sensitivity analysis and digital human simulation (Oral presentation at World Congress of Biomechanics 2018)
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2017
- Black-Box Data-efficient Policy Search for Robotics
- Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control
- Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations
- Anticipatory models of human movements and dynamics: the roadmap of the AnDy project
- Prediction of Intention during Interaction with iCub with Probabilistic Movement Primitives
- Adaptive Whole-Body Manipulation in Human-to-Humanoid Multi-Contact Motion Retargeting
- Progress and Prospects of the Human-Robot Collaboration
- Humanoid Control for Co-Manipulations Tasks with Whole-body Human Dynamics Reconstruction
- Safe trajectory optimization for whole-body motion of humanoids
- Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control
- Multi-modal intention prediction with Probabilistic Movement Primitives
- Towards ergonomie control of human-robot co-manipulation and handover
- A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot
- A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping
- Qualitative assessment of a clutch-actuated ankle exoskeleton