Livrables
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
Auteurs:
Nori, Francesco
Publié dans:
Numéro 2, 2017
Éditeur:
IEEE
Auteurs:
Chatzilygeroudis, Konstantinos; Rama, Roberto; Kaushik, Rituraj; Goepp, Dorian; Vassiliades, Vassilis; Mouret, Jean-Baptiste
Publié dans:
https://hal.inria.fr/hal-01576683, Numéro 1, 2017
Éditeur:
IEEE
Auteurs:
Ivaldi, Serena; Fritzsche, Lars; Babič, Jan; Stulp, Freek; Damsgaard, Michael; Graimann, Bernhard; Bellusci, Giovanni; Nori, Francesco
Publié dans:
Digital Human Models (DHM), Jun 2017, Bonn, Germany. 2017, Numéro 1, 2017
Éditeur:
Digital Human Models
Auteurs:
Spitz, Jonathan; Bouyarmane, Karim; Ivaldi, Serena; Mouret, Jean-Baptiste
Publié dans:
https://hal.archives-ouvertes.fr/hal-01569948, Numéro 3, 2017
Éditeur:
IEEE
Auteurs:
Otani, Kazuya; Bouyarmane, Karim
Publié dans:
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), Numéro 1, 2017
Éditeur:
IEEE
Auteurs:
Otani, Kazuya; Bouyarmane, Karim; Ivaldi, Serena
Publié dans:
Proceedings of International Conference on Robotics and Automation, Numéro 1, 2018
Éditeur:
IEEE
Auteurs:
Dermy, O.; Charpillet, F.; Ivaldi, S.
Publié dans:
Proc. 10th International Workshop on Human-Friendly Robotics (HFR 2017), 2017
Éditeur:
Springer STAR
Auteurs:
K. Otani, K. Bouyarmane, S. Ivaldi
Publié dans:
"Workshop ""Human-humanoid collaboration"" in HUMANOIDS 2017", 2017
Éditeur:
N/A
Auteurs:
Modugno, V.; Nava, G.; Pucci, D.; Nori, F.; Oriolo, G.; Ivaldi, S.
Publié dans:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Éditeur:
IEEE
Auteurs:
Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B.
Publié dans:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2017
Éditeur:
IEEE
Auteurs:
Luka Peternel, Wansoo Kim, Jan Babic, Arash Ajoudani
Publié dans:
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Page(s) 55-60, ISBN 978-1-5386-4678-6
Éditeur:
IEEE
DOI:
10.1109/HUMANOIDS.2017.8239537
Auteurs:
Miha Dežman, Jan Babič, Andrej Gams
Publié dans:
2018, Page(s) 778-786
Éditeur:
Springer International Publishing
DOI:
10.1007/978-3-319-61276-8_82
Auteurs:
Andrea Gigli, Arjan Gijsberts, Claudio Castellini
Publié dans:
2019 IEEE/RAS-EMBS 16th International Conference on Rehabilitation Robotics, 2019
Éditeur:
IEEE
Auteurs:
Antonio Gonzales Marin, Mohammad S. Shourijeh, Pavel E. Galibarov, Michael Damsgaard, Lars Fritzsch, Freek Stulp
Publié dans:
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 1-9, ISBN 978-1-5386-8094-0
Éditeur:
IEEE
DOI:
10.1109/iros.2018.8594132
Auteurs:
Dermy O., Charpillet F., Ivaldi S.
Publié dans:
Human Friendly Robotics. Springer Proceedings in Advanced Robotics, Numéro Vol 7, 2019, Page(s) P 181-196
Éditeur:
Springer
Auteurs:
Penco, L.; Clement, B.; Modugno, V.; Mingo Hoffman, E.M.; Nava, G.; Pucci, D.; Tsagarakis, N.G.; Mouret, J.-B.; Ivaldi, S.
Publié dans:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Éditeur:
IEEE
Auteurs:
Charbonneau, M.; Modugno, V.; Nori, F.; Oriolo, G.; Pucci, D.; Ivaldi, S.
Publié dans:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS), 2018
Éditeur:
IEEE
Auteurs:
Dermy, O.; Chaveroche, M.; Colas, F.; Charpillet, F.; Ivaldi, S.
Publié dans:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS 2018), 2018
Éditeur:
IEEE
Auteurs:
Maurice, P.; Allienne, L.; Malaise, A.; Ivaldi, S.
Publié dans:
IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018
Éditeur:
IEEE
Auteurs:
Maurice, P.; Camernik, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J.
Publié dans:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, 2018
Éditeur:
Oral Presentation
Auteurs:
Malaisé, A.; Maurice, P.; Colas F.; Ivaldi S.
Publié dans:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Éditeur:
INRS
Auteurs:
Malaisé, A.; Maurice, P.; Colas, F.; Charpillet, F.; Ivaldi, S.
Publié dans:
Proc. 11th Int. Conf. on Advances in Computer-Human Interactions (ACHI), 2018
Éditeur:
IARIA XPS Press
Auteurs:
Otani, K.; Bouyarmane, K.; Ivaldi, S.
Publié dans:
Proc. IEEE/RAS Int. Conf. Robotics and Automation (ICRA), 2018
Éditeur:
IEEE
Auteurs:
Maurice, P.; Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Pucci, D.; Nori, F.
Publié dans:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy, 2018
Éditeur:
N/A
Auteurs:
Marie Charbonneau, Valerio Modugno, Francesco Nori, Giuseppe Oriolo, Daniele Pucci, Serena Ivaldi
Publié dans:
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 1-9, ISBN 978-1-5386-7283-9
Éditeur:
IEEE
DOI:
10.1109/HUMANOIDS.2018.8624995
Auteurs:
Claudia Latella, Luca Tagliapietra, Diego Ferigo, Yeshasvi Tirupachuri, Francesco Nori, Daniele Pucci
Publié dans:
2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 2018, Page(s) 21-22, ISBN 978-1-5386-8037-7
Éditeur:
IEEE
DOI:
10.1109/arso.2018.8625806
Auteurs:
Hoffman , Enrico ,; Clément , Brice; Zhou , Chengxu; Tsagarakis , Nikos ,; Mouret , Jean-Baptiste; Ivaldi , Serena
Publié dans:
ICRA 2018 - International Conference on Robotics and Automation, Numéro 3, 2018
Éditeur:
IEEE
Auteurs:
Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Publié dans:
ICRA 2018 - International Conference on Robotics and Automation, Numéro 3, 2018
Éditeur:
IEEE
Auteurs:
Pautrat, Rémi; Chatzilygeroudis, Konstantinos; Mouret, Jean-Baptiste
Publié dans:
ICRA 2018 - International Conference on Robotics and Automation, Numéro 4, 2018
Éditeur:
IEEE
Auteurs:
Dežman, Miha; Babič, Jan; Gams, Andrej
Publié dans:
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], Numéro 1, 2017, Page(s) pp. 720-737, 2017
Éditeur:
Springer
Auteurs:
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
Publié dans:
IEEE RO-MAN 2019, 2019
Éditeur:
arXiv.org
Auteurs:
Pauline Maurice, Meghan E. Huber, Neville Hogan, Dagmar Sternad
Publié dans:
IEEE Robotics and Automation Letters, Numéro 3/1, 2018, Page(s) 249-256, ISSN 2377-3766
Éditeur:
IEEE
DOI:
10.1109/LRA.2017.2737048
Auteurs:
Oriane Dermy, Alexandros Paraschos, Marco Ewerton, Jan Peters, François Charpillet, Serena Ivaldi
Publié dans:
Frontiers in Robotics and AI, Numéro 4, 2017, ISSN 2296-9144
Éditeur:
Frontiers
DOI:
10.3389/frobt.2017.00045
Auteurs:
Ajoudani, Arash; Zanchettin, Andrea,; Ivaldi, Serena; Albu-Schäffer, Alin; Kosuge, Kazuhiro; Khatib, Oussama
Publié dans:
Autonomous Robots, Numéro 1, 2017, ISSN 0929-5593
Éditeur:
Kluwer Academic Publishers
Auteurs:
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
Publié dans:
IEEE Robotics and Automation Letters, Numéro 3/1, 2018, Page(s) 516-523, ISSN 2377-3766
Éditeur:
IEEE
DOI:
10.1109/LRA.2017.2768126
Auteurs:
Gennaro Raiola, Susana Sanchez Restrepo, Pauline Chevalier, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, Freek Stulp
Publié dans:
Autonomous Robots, Numéro 42/5, 2018, Page(s) 1037-1051, ISSN 0929-5593
Éditeur:
Kluwer Academic Publishers
DOI:
10.1007/s10514-017-9680-7
Auteurs:
Olivier Sigaud, Freek Stulp
Publié dans:
Neural Networks, Numéro 113, 2019, Page(s) 28-40, ISSN 0893-6080
Éditeur:
Pergamon Press Ltd.
DOI:
10.1016/j.neunet.2019.01.011
Auteurs:
Adrien Malaise, Pauline Maurice, Francis Colas, Serena Ivaldi
Publié dans:
IEEE Robotics and Automation Letters, Numéro 4/2, 2019, Page(s) 1132-1139, ISSN 2377-3766
Éditeur:
IEEE
DOI:
10.1109/lra.2019.2894389
Auteurs:
Ivaldi, S
Publié dans:
ERCIM NEWS - Special theme: Human-Robot, Numéro Vol 114, 2018, Page(s) Pages 9-11, ISSN 0926-4981
Éditeur:
ERCIM EEIG
Auteurs:
Ivaldi, S.; M. Pateraki
Publié dans:
ERCIM NEWS - Special theme: Human-Robot, Numéro Vol 114, 2018, Page(s) P 6-7, ISSN 0926-4981
Éditeur:
ERCIM EEIG
Auteurs:
Ajoudani, A.; Zanchettin, A.M.; Ivaldi, S.; Albu-Schaeffer, A.; Kosuge, K.; Khatib, O.
Publié dans:
Autonomous Robots, Numéro Vol 42, 2018, Page(s) P 957-975, ISSN 1573-7527
Éditeur:
Springer Verlag
Auteurs:
Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
Publié dans:
Sensors, Numéro 19/12, 2019, Page(s) 2794, ISSN 1424-8220
Éditeur:
Multidisciplinary Digital Publishing Institute (MDPI)
DOI:
10.3390/s19122794
Auteurs:
Claudia Latella, Marta Lorenzini, Maria Lazzaroni, Francesco Romano, Silvio Traversaro, M. Ali Akhras, Daniele Pucci, Francesco Nori
Publié dans:
Autonomous Robots, Numéro 43/6, 2019, Page(s) 1591-1603, ISSN 0929-5593
Éditeur:
Kluwer Academic Publishers
DOI:
10.1007/s10514-018-9808-4
Auteurs:
Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, Jean-Baptiste Mouret
Publié dans:
Journal of Open Source Software, Numéro 3/26, 2018, Page(s) 545, ISSN 2475-9066
Éditeur:
N/A
DOI:
10.21105/joss.00545
Auteurs:
Pauline Maurice, Neville Hogan, Dagmar Sternad
Publié dans:
Journal of Neurophysiology, Numéro 120/2, 2018, Page(s) 765-780, ISSN 0022-3077
Éditeur:
American Physiological Society
DOI:
10.1152/jn.00918.2017
Auteurs:
Maurice, Pauline; Padois, Vincent; Measson, Yvan; Bidaud, Philippe
Publié dans:
International Journal of Computer Integrated Manufacturing, Numéro 2, 2019, ISSN 1362-3052
Éditeur:
TAYLOR & FRANCIS ONLINE
Auteurs:
Franz Steinmetz, Verena Nitsch, Freek Stulp
Publié dans:
IEEE Robotics and Automation Letters, Numéro 4, 2019, Page(s) 1-1, ISSN 2377-3766
Éditeur:
IEEE
DOI:
10.1109/LRA.2019.2928782
Auteurs:
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
Publié dans:
Wearable Technologies, Numéro 2, 2021, Page(s) 16, ISSN 2631-7176
Éditeur:
Cambridge University Press
DOI:
10.1017/wtc.2021.5
Auteurs:
Chatzilygeroudis, Konstantinos; Vassiliades, Vassilis; Stulp, Freek; Calinon, Sylvain; Mouret, Jean-Baptiste
Publié dans:
arXiv.org e-Print Archive, Numéro 25, 2018
Éditeur:
arXiv
Auteurs:
Chaveroche, M.; Malaisé, A.; Colas, F.; Charpillet, F.; Ivaldi, S.
Publié dans:
arXiv:1807.02350 [cs.LG], 2018
Éditeur:
Cornell University
Auteurs:
Dafarra, Stefano; Romano, Francesco; Nori, Francesco
Publié dans:
http://arxiv.org/abs/1705.10638, 2017
Éditeur:
http://arxiv.org/abs/1705.10638
Auteurs:
Chavez, Francisco Javier Andrade; Nava, Gabriele; Traversaro, Silvio; Nori, Francesco; Pucci, Daniele
Publié dans:
http://arxiv.org/abs/1812.00650, 2018
Éditeur:
http://arxiv.org/abs/1812.00650
Auteurs:
Tirupachuri, Yeshasvi; Nava, Gabriele; Latella, Claudia; Ferigo, Diego; Rapetti, Lorenzo; Tagliapietra, Luca; Nori, Francesco; Pucci, Daniele
Publié dans:
http://arxiv.org/abs/1809.06165, 2019
Éditeur:
http://arxiv.org/abs/1809.06165
Auteurs:
Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babic, Jan; Pucci, Daniele
Publié dans:
http://arxiv.org/abs/1809.01578, 2019
Éditeur:
http://arxiv.org/abs/1809.01578
Auteurs:
Dafarra, Stefano; Romano, Francesco; Nava, Gabriele; Nori, Francesco
Publié dans:
http://arxiv.org/abs/1705.10635, Numéro 15, 2017
Éditeur:
http://arxiv.org/abs/1705.10635
Auteurs:
Dafarra, Stefano; Nava, Gabriele; Charbonneau, Marie; Guedelha, Nuno; Andrade, Francisco; Traversaro, Silvio; Fiorio, Luca; Romano, Francesco; Nori, Francesco; Metta, Giorgio; Pucci, Daniele
Publié dans:
arxiv.org/abs/1807.05395, 2018
Éditeur:
arxiv.org/abs/1807.05395
Auteurs:
Kaushik , Rituraj; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Publié dans:
CoRL 2018 - Conference on Robot Learning, Oct 2018, Zurich, Switzerland, Numéro 3, 2018
Éditeur:
N/A
Auteurs:
MAURICE, P. PADOIS, V. MEASSON, Y BIDAUD, P.
Publié dans:
World Congress of Biomechanics, 2018
Éditeur:
N/A
Auteurs:
Ugurlu, B.; Ivaldi, S.
Publié dans:
Humanoid Robotics: A Reference – Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim, Numéro VOL 35, 2018
Éditeur:
SPRINGER
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