88 citations · 531 across the 65 of their papers we have counts for
19 papers · 1 filter
Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots
Doganay Sirintuna, Idil Ozdamar, Arash Ajoudani
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full contr…
Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning
Jianzhuang Zhao, Gustavo J. G. Lahr, Francesco Tassi +3
This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Progra…
An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation
Alberto Giammarino, Juan M. Gandarias, Arash Ajoudani
Using large datasets in machine learning has led to outstanding results, in some cases outperforming humans in tasks that were believed impossible for machines. However, achieving…
Semantic Visual Simultaneous Localization and Mapping: A Survey
Kaiqi Chen, Junhao Xiao, Jialing Liu +6
Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such…
An Object Deformation-Agnostic Framework for Human-Robot Collaborative Transportation
Doganay Sirintuna, Alberto Giammarino, Arash Ajoudani
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic infor…
A Shared Autonomy Reconfigurable Control Framework for Telemanipulation of Multi-arm Systems
Idil Ozdamar, Marco Laghi, Giorgio Grioli +3
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Cla…
Performance Analysis of Vibrotactile and Slide-and-Squeeze Haptic Feedback Devices for Limbs Postural Adjustment
Marta Lorenzini, Simone Ciotti, Juan M. Gandarias +3
Recurrent or sustained awkward body postures are among the most frequently cited risk factors to the development of work-related musculoskeletal disorders (MSDs). To prevent worker…
Pick the Right Co-Worker: Online Assessment of Cognitive Ergonomics in Human-Robot Collaborative Assembly
Marta Lagomarsino, Marta Lorenzini, Pietro Balatti +2
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online an…
Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks
Marta Lagomarsino, Marta Lorenzini, Elena De Momi +1
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This p…
Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming
Francesco Tassi, Francesco Iodice, Elena De Momi +1
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams.…
ErgoTac-Belt: Anticipatory Vibrotactile Feedback to Lead Centre of Pressure during Walking
Marta Lorenzini, Juan M. Gandarias, Luca Fortini +2
Balance and gait disorders are the second leading cause of falls, which, along with consequent injuries, are reported as major public health problems all over the world. For patien…
A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment
Wansoo Kim, Virginia Ruiz Garate, Juan M. Gandarias +2
The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the exi…
Learning Cooperative Dynamic Manipulation Skills from Human Demonstration Videos
Francesco Iodice, Yuqiang Wu, Wansoo Kim +3
This article proposes a method for learning and robotic replication of dynamic collaborative tasks from offline videos. The objective is to extend the concept of learning from demo…
Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration
Luca Fortini, Mattia Leonori, Juan M. Gandarias +2
Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC). However, it is challenging t…
A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks with Mobile Manipulators
Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon +3
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type phy…
A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration
Yasuhiro Kato, Pietro Balatti, Juan M. Gandarias +3
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using hapt…
MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control
Mattia Leonori, Juan M. Gandarias, Arash Ajoudani
Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although…
Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics
Doganay Sirintuna, Alberto Giammarino, Arash Ajoudani
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as…
SUPER-MAN: SUPERnumerary Robotic Bodies for Physical Assistance in HuMAN-Robot Conjoined Actions
Alberto Giammarino, Juan M. Gandarias, Pietro Balatti +3
This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a description of the SUPER-MAN concept. T…