62 citations · 284 across the 28 of their papers we have counts for
13 papers · 1 filter
A Shared Control Approach Based on First-Order Dynamical Systems and Closed-Loop Variable Stiffness Control
Haotian Xue, Youssef Michel, Dongheui Lee
In this paper, we present a novel learning-based shared control framework. This framework deploys first-order Dynamical Systems (DS) as motion generators providing the desired refe…
A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems
Youssef Michel, Matteo Saveriano, Dongheui Lee
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control appr…
Long-Horizon Planning and Execution with Functional Object-Oriented Networks
David Paulius, Alejandro Agostini, Dongheui Lee
Following work on joint object-action representations, functional object-oriented networks (FOON) were introduced as a knowledge graph representation for robots. A FOON contains sy…
Capability-based Frameworks for Industrial Robot Skills: a Survey
Matteo Pantano, Thomas Eiband, Dongheui Lee
The research community is puzzled with words like skill, action, atomic unit and others when describing robots' capabilities. However, for giving the possibility to integrate capab…
A Road-map to Robot Task Execution with the Functional Object-Oriented Network
David Paulius, Alejandro Agostini, Yu Sun +1
Following work on joint object-action representations, the functional object-oriented network (FOON) was introduced as a knowledge graph representation for robots. Taking the form…
Visually Grounding Language Instruction for History-Dependent Manipulation
Hyemin Ahn, Obin Kwon, Kyoungdo Kim +5
This paper emphasizes the importance of a robot's ability to refer to its task history, especially when it executes a series of pick-and-place manipulations by following language i…
Incremental Skill Learning of Stable Dynamical Systems
Matteo Saveriano, Dongheui Lee
Efficient skill acquisition, representation, and on-line adaptation to different scenarios has become of fundamental importance for assistive robotic applications. In the past deca…
Merging Position and Orientation Motion Primitives
Matteo Saveriano, Felix Franzel, Dongheui Lee
In this paper, we focus on generating complex robotic trajectories by merging sequential motion primitives. A robotic trajectory is a time series of positions and orientations endi…
Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems
Matteo Saveriano, Dongheui Lee
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering pos…
A Transfer Learning Approach to Cross-Modal Object Recognition: From Visual Observation to Robotic Haptic Exploration
Pietro Falco, Shuang Lu, Ciro Natale +2
In this work, we introduce the problem of cross-modal visuo-tactile object recognition with robotic active exploration. With this term, we mean that the robot observes a set of obj…
A Human Action Descriptor Based on Motion Coordination
Pietro Falco, Matteo Saveriano, Eka Gibran Hasany +2
In this paper, we present a descriptor for human whole-body actions based on motion coordination. We exploit the principle, well known in neuromechanics, that humans move their joi…
On Policy Learning Robust to Irreversible Events: An Application to Robotic In-Hand Manipulation
Pietro Falco, Abdallah Attawia, Matteo Saveriano +1
In this letter, we present an approach for learning in-hand manipulation skills with a low-cost, underactuated prosthetic hand in the presence of irreversible events. Our approach…
Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses
Min Jun Kim, Jianjie Lin, Konstantin Kondak +2
This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were…