Deliverables
This deliverable is a scientific paper or report and updates on the ANDY achievements in the first validation scenario which concerns human-cobot physical collaboration.
Scenario 3 report and updates - 1This deliverable is a scientific paper or report and updates on the ANDY achievements in the third validation scenario which concerns human-humanoid physical collaboration.
Scenario 3 report and updates - 2This deliverable is a scientific paper or report and updates on the ANDY achievements in the third validation scenario which concerns humanhumanoid physical collaboration
Scenario 1 report and updates - 2This deliverable is a scientific paper or report and updates on the ANDY achievements in the first validation scenario which concerns humancobot physical collaboration
This deliverable is about the release of the ANDYDATASET, a dataset of human motions and force captured movements. The deliverable will also include a scientific paper associated to the dataset to be submitted to relevant publications. The ANDYDATASET at this stage will mainly contain those whole-body interactive and collaborative motions that are relevant to the prosecution of the project. It will contain human-human collaborative tasks (e.g. assisted walking, collaborative assembly) and relevant human movements (e.g. walking, drilling, overhead working). Precise details of the ANDYDATASET will be defined in T2.1. Possibly, the ANDYDATASET will contain data from the end-users advisory board members which might not be public according to what will be defined in the Data Management Plan (see D7.1).
Predictive controlThis deliverable is a scientific report or paper about the theoretical foundation of controlling collaboration when anticipation of partner related quantities is necessary to complete the collaborative task
ANDYMODEL: advanced classification & predictive models - 1This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET using deep gated neural networks T34 capable of 1 autonoumous feature extraction 2 simultaneously performing classification and regression 3 virtual sensing ie predicting sensor values which are available offline during training but not online during execution
ANDYMODEL: advanced classification & predictive models - 2This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET using deep gated neural networks T34 capable of 1 autonoumous feature extraction 2 simultaneously performing classification and regression 3 virtual sensing ie predicting sensor values which are available offline during training but not online during execution
Switching controlThis deliverable is a scientific report or paper about the theoretical foundation of switching control
Ergonomic controlThis deliverable is a scientific report or paper about the theoretical foundation of ergonomic control.
Dissemination periodic reports - 3Dissemination periodic reports M18 M36 M48
Reactive controlThis deliverable is a scientific report or paper about the theoretical foundation of partner-aware reactive control.
ANDYSUIT & updates - 3This is either a scientific paper or report about the first prototype of the suit At month 12 force and motion estimations will be based on wearable motion tracking system 155 with wearable force platforms 156 145 At month 24 estimations will be based on sensor fusion techniques on accelerometers gyroscopes magnetometers force and torque sensors At month 36 estimation will include EMG as well as tactile sensing 95 integrated in the footsoles and if necessary at other possible contact points eg hands
Dissemination periodic reports - 1Dissemination periodic reports (M18, M36, M48).
ANDYDATASET specificationThis deliverable concerns the ANDYDATASET specifications as defined in T2.1. It will consists of a technical report containing specifications such as: adopted standards for sensor positioning (e.g. motion capture markers), sensor modalities, acquired biometric data, considered interactive and collaborative motions.
Dissemination periodic reports - 2Dissemination periodic reports M18 M36 M48
ANDYMODEL: ergonomic modelsThis deliverable is mainly related to T3.2 and it is a scientific report or paper on ergonomic models for real-time ergonomic assessment. Models will be suitable for: controlling robot behavior for ergonomically optimal collaborative conditions; providing alerts to the human operator, whenever certain risk limits are being exceeded.
Specifications for the ANDYSUITThis deliverable is about the release of a tentative data-sheet describing the quantitative specifications of the ANDYSUIT (i.e. desiderata). Specifications will primarily consider the goals to be achieved in the following stages (see in particular WP4 and WP5). This deliverable will also contain a compendium with specifications from the end-users advisory board.
ANDYMODEL: baseline classification & regression models - 1This deliverable is a scientific report or paper on models of humans motions trained on the data in ANDYDATASET, using machine learning algorithms such as SVM, HMM, GPR and LWPR. These models will be capable of: (1) classifying human motion based on measurements from the ANDYSUIT (T3.3); (2) predict future quantities (e.g. joint torques, body motion) based on current available measurements (T3.3).
ANDYSUIT & updates - 2This is either a scientific paper or report about the first prototype of the suit At month 12 force and motion estimations will be based on wearable motion tracking system 155 with wearable force platforms 156 145 At month 24 estimations will be based on sensor fusion techniques on accelerometers gyroscopes magnetometers force and torque sensors At month 36 estimation will include EMG as well as tactile sensing 95 integrated in the footsoles and if necessary at other possible contact points eg hands
ANDYSUIT & updates - 1This is either a scientific paper or report about the first prototype of the suit. At month 12, force and motion estimations will be based on wearable motion tracking system [155] with wearable force platforms [156, 145]. At month 24, estimations will be based on sensor fusion techniques on accelerometers, gyroscopes, magnetometers, force and torque sensors. At month 36, estimation will include EMG, as well as tactile sensing [95] integrated in the foot-soles and, if necessary, at other possible contact points (e.g. hands).
The plan for the management of data with specific focus on the ANDYDATASET Data Management Plan M6 and updates M25 M40
Data management plan - 1The plan for the management of data, with specific focus on the ANDYDATASET. Data Management Plan (M6) and updates (M25, M40).
Data management plan - 3The plan for the management of data with specific focus on the ANDYDATASET Data Management Plan M6 and updates M25 M40
Publication of the ANDY website with feeds from relevant social networks.
Publications
Author(s):
Nori, Francesco
Published in:
Issue 2, 2017
Publisher:
IEEE
Author(s):
Chatzilygeroudis, Konstantinos; Rama, Roberto; Kaushik, Rituraj; Goepp, Dorian; Vassiliades, Vassilis; Mouret, Jean-Baptiste
Published in:
https://hal.inria.fr/hal-01576683, Issue 1, 2017
Publisher:
IEEE
Author(s):
Ivaldi, Serena; Fritzsche, Lars; Babič, Jan; Stulp, Freek; Damsgaard, Michael; Graimann, Bernhard; Bellusci, Giovanni; Nori, Francesco
Published in:
Digital Human Models (DHM), Jun 2017, Bonn, Germany. 2017, Issue 1, 2017
Publisher:
Digital Human Models
Author(s):
Spitz, Jonathan; Bouyarmane, Karim; Ivaldi, Serena; Mouret, Jean-Baptiste
Published in:
https://hal.archives-ouvertes.fr/hal-01569948, Issue 3, 2017
Publisher:
IEEE
Author(s):
Otani, Kazuya; Bouyarmane, Karim
Published in:
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), Issue 1, 2017
Publisher:
IEEE
Author(s):
Otani, Kazuya; Bouyarmane, Karim; Ivaldi, Serena
Published in:
Proceedings of International Conference on Robotics and Automation, Issue 1, 2018
Publisher:
IEEE
Author(s):
Dermy, O.; Charpillet, F.; Ivaldi, S.
Published in:
Proc. 10th International Workshop on Human-Friendly Robotics (HFR 2017), 2017
Publisher:
Springer STAR
Author(s):
K. Otani, K. Bouyarmane, S. Ivaldi
Published in:
"Workshop ""Human-humanoid collaboration"" in HUMANOIDS 2017", 2017
Publisher:
N/A
Author(s):
Modugno, V.; Nava, G.; Pucci, D.; Nori, F.; Oriolo, G.; Ivaldi, S.
Published in:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Publisher:
IEEE
Author(s):
Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B.
Published in:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Publisher:
IEEE
Author(s):
Luka Peternel, Wansoo Kim, Jan Babic, Arash Ajoudani
Published in:
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Page(s) 55-60, ISBN 978-1-5386-4678-6
Publisher:
IEEE
DOI:
10.1109/HUMANOIDS.2017.8239537
Author(s):
Miha Dežman, Jan Babič, Andrej Gams
Published in:
2018, Page(s) 778-786
Publisher:
Springer International Publishing
DOI:
10.1007/978-3-319-61276-8_82
Author(s):
Andrea Gigli, Arjan Gijsberts, Claudio Castellini
Published in:
2019 IEEE/RAS-EMBS 16th International Conference on Rehabilitation Robotics, 2019
Publisher:
IEEE
Author(s):
Antonio Gonzales Marin, Mohammad S. Shourijeh, Pavel E. Galibarov, Michael Damsgaard, Lars Fritzsch, Freek Stulp
Published in:
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 1-9, ISBN 978-1-5386-8094-0
Publisher:
IEEE
DOI:
10.1109/iros.2018.8594132
Author(s):
Dermy O., Charpillet F., Ivaldi S.
Published in:
Human Friendly Robotics. Springer Proceedings in Advanced Robotics, Issue Vol 7, 2019, Page(s) P 181-196
Publisher:
Springer
Author(s):
Penco, L.; Clement, B.; Modugno, V.; Mingo Hoffman, E.M.; Nava, G.; Pucci, D.; Tsagarakis, N.G.; Mouret, J.-B.; Ivaldi, S.
Published in:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Publisher:
IEEE
Author(s):
Charbonneau, M.; Modugno, V.; Nori, F.; Oriolo, G.; Pucci, D.; Ivaldi, S.
Published in:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Publisher:
IEEE
Author(s):
Dermy, O.; Chaveroche, M.; Colas, F.; Charpillet, F.; Ivaldi, S.
Published in:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS 2018), 2018
Publisher:
IEEE
Author(s):
Maurice, P.; Allienne, L.; Malaise, A.; Ivaldi, S.
Published in:
IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018
Publisher:
IEEE
Author(s):
Maurice, P.; Camernik, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J.
Published in:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, 2018
Publisher:
Oral Presentation
Author(s):
Malaisé, A.; Maurice, P.; Colas F.; Ivaldi S.
Published in:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Publisher:
INRS
Author(s):
Malaisé, A.; Maurice, P.; Colas, F.; Charpillet, F.; Ivaldi, S.
Published in:
Proc. 11th Int. Conf. on Advances in Computer-Human Interactions (ACHI), 2018
Publisher:
IARIA XPS Press
Author(s):
Otani, K.; Bouyarmane, K.; Ivaldi, S.
Published in:
Proc. IEEE/RAS Int. Conf. Robotics and Automation (ICRA), 2018
Publisher:
IEEE
Author(s):
Maurice, P.; Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Pucci, D.; Nori, F.
Published in:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Publisher:
N/A
Author(s):
Marie Charbonneau, Valerio Modugno, Francesco Nori, Giuseppe Oriolo, Daniele Pucci, Serena Ivaldi
Published in:
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 1-9, ISBN 978-1-5386-7283-9
Publisher:
IEEE
DOI:
10.1109/HUMANOIDS.2018.8624995
Author(s):
Claudia Latella, Luca Tagliapietra, Diego Ferigo, Yeshasvi Tirupachuri, Francesco Nori, Daniele Pucci
Published in:
2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018, Page(s) 21-22, ISBN 978-1-5386-8037-7
Publisher:
IEEE
DOI:
10.1109/arso.2018.8625806
Author(s):
Hoffman , Enrico ,; Clément , Brice; Zhou , Chengxu; Tsagarakis , Nikos ,; Mouret , Jean-Baptiste; Ivaldi , Serena
Published in:
ICRA 2018 - International Conference on Robotics and Automation, Issue 3, 2018
Publisher:
IEEE
Author(s):
Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Published in:
ICRA 2018 - International Conference on Robotics and Automation, Issue 3, 2018
Publisher:
IEEE
Author(s):
Pautrat, Rémi; Chatzilygeroudis, Konstantinos; Mouret, Jean-Baptiste
Published in:
ICRA 2018 - International Conference on Robotics and Automation, Issue 4, 2018
Publisher:
IEEE
Author(s):
Dežman, Miha; Babič, Jan; Gams, Andrej
Published in:
Advances in service and industrial robotics : proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, [21-23 June 2017, Torino, Italy], Issue 1, 2017, Page(s) pp. 720-737, 2017
Publisher:
Springer
Author(s):
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
Published in:
IEEE RO-MAN 2019, 2019
Publisher:
arXiv.org
Author(s):
Pauline Maurice, Meghan E. Huber, Neville Hogan, Dagmar Sternad
Published in:
IEEE Robotics and Automation Letters, Issue 3/1, 2018, Page(s) 249-256, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/LRA.2017.2737048
Author(s):
Oriane Dermy, Alexandros Paraschos, Marco Ewerton, Jan Peters, François Charpillet, Serena Ivaldi
Published in:
Frontiers in Robotics and AI, Issue 4, 2017, ISSN 2296-9144
Publisher:
Frontiers
DOI:
10.3389/frobt.2017.00045
Author(s):
Ajoudani, Arash; Zanchettin, Andrea,; Ivaldi, Serena; Albu-Schäffer, Alin; Kosuge, Kazuhiro; Khatib, Oussama
Published in:
Autonomous Robots, Issue 1, 2017, ISSN 0929-5593
Publisher:
Kluwer Academic Publishers
Author(s):
Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael Mistry, Vincent Padois, Francesco Nori
Published in:
IEEE Robotics and Automation Letters, Issue 3/1, 2018, Page(s) 516-523, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/LRA.2017.2768126
Author(s):
Gennaro Raiola, Susana Sanchez Restrepo, Pauline Chevalier, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, Freek Stulp
Published in:
Autonomous Robots, Issue 42/5, 2018, Page(s) 1037-1051, ISSN 0929-5593
Publisher:
Kluwer Academic Publishers
DOI:
10.1007/s10514-017-9680-7
Author(s):
Olivier Sigaud, Freek Stulp
Published in:
Neural Networks, Issue 113, 2019, Page(s) 28-40, ISSN 0893-6080
Publisher:
Pergamon Press Ltd.
DOI:
10.1016/j.neunet.2019.01.011
Author(s):
Adrien Malaise, Pauline Maurice, Francis Colas, Serena Ivaldi
Published in:
IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 1132-1139, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/lra.2019.2894389
Author(s):
Ivaldi, S
Published in:
ERCIM NEWS - Special theme: Human-Robot, Issue Vol 114, 2018, Page(s) Pages 9-11, ISSN 0926-4981
Publisher:
ERCIM EEIG
Author(s):
Ivaldi, S.; M. Pateraki
Published in:
ERCIM NEWS - Special theme: Human-Robot, Issue Vol 114, 2018, Page(s) P 6-7, ISSN 0926-4981
Publisher:
ERCIM EEIG
Author(s):
Ajoudani, A.; Zanchettin, A.M.; Ivaldi, S.; Albu-Schaeffer, A.; Kosuge, K.; Khatib, O.
Published in:
Autonomous Robots, Issue Vol 42, 2018, Page(s) P 957-975, ISSN 1573-7527
Publisher:
Springer Verlag
Author(s):
Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
Published in:
Sensors, Issue 19/12, 2019, Page(s) 2794, ISSN 1424-8220
Publisher:
Multidisciplinary Digital Publishing Institute (MDPI)
DOI:
10.3390/s19122794
Author(s):
Claudia Latella, Marta Lorenzini, Maria Lazzaroni, Francesco Romano, Silvio Traversaro, M. Ali Akhras, Daniele Pucci, Francesco Nori
Published in:
Autonomous Robots, Issue 43/6, 2019, Page(s) 1591-1603, ISSN 0929-5593
Publisher:
Kluwer Academic Publishers
DOI:
10.1007/s10514-018-9808-4
Author(s):
Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, Jean-Baptiste Mouret
Published in:
Journal of Open Source Software, Issue 3/26, 2018, Page(s) 545, ISSN 2475-9066
Publisher:
N/A
DOI:
10.21105/joss.00545
Author(s):
Pauline Maurice, Neville Hogan, Dagmar Sternad
Published in:
Journal of Neurophysiology, Issue 120/2, 2018, Page(s) 765-780, ISSN 0022-3077
Publisher:
American Physiological Society
DOI:
10.1152/jn.00918.2017
Author(s):
Maurice, Pauline; Padois, Vincent; Measson, Yvan; Bidaud, Philippe
Published in:
International Journal of Computer Integrated Manufacturing, Issue 2, 2019, ISSN 1362-3052
Publisher:
TAYLOR & FRANCIS ONLINE
Author(s):
Franz Steinmetz, Verena Nitsch, Freek Stulp
Published in:
IEEE Robotics and Automation Letters, Issue 4, 2019, Page(s) 1-1, ISSN 2377-3766
Publisher:
IEEE
DOI:
10.1109/LRA.2019.2928782
Author(s):
Lars Fritzsche, Pavel E. Galibarov, Christian Gärtner, Jonas Bornmann, Michael Damsgaard, Rudolf Wall, Benjamin Schirrmeister, Jose Gonzalez-Vargas, Daniele Pucci, Pauline Maurice, Serena Ivaldi, Jan Babič
Published in:
Wearable Technologies, Issue 2, 2021, Page(s) 16, ISSN 2631-7176
Publisher:
Cambridge University Press
DOI:
10.1017/wtc.2021.5
Author(s):
Chatzilygeroudis, Konstantinos; Vassiliades, Vassilis; Stulp, Freek; Calinon, Sylvain; Mouret, Jean-Baptiste
Published in:
arXiv.org e-Print Archive, Issue 25, 2018
Publisher:
arXiv
Author(s):
Chaveroche, M.; Malaisé, A.; Colas, F.; Charpillet, F.; Ivaldi, S.
Published in:
arXiv:1807.02350 [cs.LG], 2018
Publisher:
Cornell University
Author(s):
Dafarra, Stefano; Romano, Francesco; Nori, Francesco
Published in:
http://arxiv.org/abs/1705.10638, 2017
Publisher:
http://arxiv.org/abs/1705.10638
Author(s):
Chavez, Francisco Javier Andrade; Nava, Gabriele; Traversaro, Silvio; Nori, Francesco; Pucci, Daniele
Published in:
http://arxiv.org/abs/1812.00650, 2018
Publisher:
http://arxiv.org/abs/1812.00650
Author(s):
Tirupachuri, Yeshasvi; Nava, Gabriele; Latella, Claudia; Ferigo, Diego; Rapetti, Lorenzo; Tagliapietra, Luca; Nori, Francesco; Pucci, Daniele
Published in:
http://arxiv.org/abs/1809.06165, 2019
Publisher:
http://arxiv.org/abs/1809.06165
Author(s):
Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babic, Jan; Pucci, Daniele
Published in:
http://arxiv.org/abs/1809.01578, 2019
Publisher:
http://arxiv.org/abs/1809.01578
Author(s):
Dafarra, Stefano; Romano, Francesco; Nava, Gabriele; Nori, Francesco
Published in:
http://arxiv.org/abs/1705.10635, Issue 15, 2017
Publisher:
http://arxiv.org/abs/1705.10635
Author(s):
Dafarra, Stefano; Nava, Gabriele; Charbonneau, Marie; Guedelha, Nuno; Andrade, Francisco; Traversaro, Silvio; Fiorio, Luca; Romano, Francesco; Nori, Francesco; Metta, Giorgio; Pucci, Daniele
Published in:
arxiv.org/abs/1807.05395, 2018
Publisher:
arxiv.org/abs/1807.05395
Author(s):
Kaushik , Rituraj; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Published in:
CoRL 2018 - Conference on Robot Learning, Oct 2018, Zurich, Switzerland, Issue 3, 2018
Publisher:
N/A
Author(s):
MAURICE, P. PADOIS, V. MEASSON, Y BIDAUD, P.
Published in:
World Congress of Biomechanics, 2018
Publisher:
N/A
Author(s):
Ugurlu, B.; Ivaldi, S.
Published in:
Humanoid Robotics: A Reference – Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, Issue VOL 35, 2018
Publisher:
SPRINGER
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