75 citations · 158 across the 20 of their papers we have counts for
22 papers
Proactive Motion Planning for Human-Robot Cooperation
Elena Basei, Edoardo Lamon, Matteo Saveriano +2
This abstract addresses the incorporation of human motion prediction into proactive and dynamic human-aware motion planning, with the goal of enabling safe collaboration between hu…
Human Motion Prediction for Human-Robot Collaboration
Placido Falqueto, Elena Basei, Edoardo Lamon +4
This paper compares three human motion prediction methods - GMM-based clustering, TransFusion, and Graph-Mixer - evaluating their effectiveness in human-robot collaboration. These…
Autonomous Robotic Tissue Palpation and Abnormalities Characterisation via Ergodic Exploration
Luca Beber, Edoardo Lamon, Matteo Saveriano +2
We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based…
Automated Generation of MDPs Using Logic Programming and LLMs for Robotic Applications
Enrico Saccon, Davide De Martini, Matteo Saveriano +3
We present a novel framework that integrates Large Language Models (LLMs) with automated planning and formal verification to streamline the creation and use of Markov Decision Proc…
Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterisation with a Collaborative Robotic Arm
Luca Beber, Edoardo Lamon, Giacomo Moretti +4
Diagnostic activities, such as ultrasound scans and palpation, are relatively low-cost. They play a crucial role in the early detection of health problems and in assessing their pr…
Combining Large Language Models and Symbolic Reasoning for Multi-Robot Temporal Planning through Explainable Knowledge Bases
Enrico Saccon, Matteo Saveriano, Edoardo Lamon +2
We present PLANTOR, a framework for generating and executing multi-robot task plans from natural-language task descriptions through LLM-assisted knowledge-base construction. The ap…
Surface Defect Identification using Bayesian Filtering on a 3D Mesh
Matteo Dalle Vedove, Matteo Bonetto, Edoardo Lamon +3
This paper presents a CAD-based approach for automated surface defect detection. We leverage the a-priori knowledge embedded in a CAD model and integrate it with point cloud data a…
Exploiting Information Theory for Intuitive Robot Programming of Manual Activities
Elena Merlo, Marta Lagomarsino, Edoardo Lamon +1
Observational learning is a promising approach to enable people without expertise in programming to transfer skills to robots in a user-friendly manner, since it mirrors how humans…
An Anatomy-Aware Shared Control Approach for Assisted Teleoperation of Lung Ultrasound Examinations
Davide Nardi, Edoardo Lamon, Daniele Fontanelli +2
Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. Th…
A Passivity-Based Variable Impedance Controller for Incremental Learning of Periodic Interactive Tasks
Matteo Dalle Vedove, Edoardo Lamon, Daniele Fontanelli +2
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the…
Towards Robotised Palpation for Cancer Detection through Online Tissue Viscoelastic Characterisation with a Collaborative Robotic Arm
Luca Beber, Edoardo Lamon, Giacomo Moretti +3
This paper introduces a new method for estimating the penetration of the end effector and the parameters of a soft body using a collaborative robotic arm. This is possible using th…
Elasticity Measurements of Expanded Foams using a Collaborative Robotic Arm
Luca Beber, Edoardo Lamon, Luigi Palopoli +3
Medical applications of robots are increasingly popular to objectivise and speed up the execution of several types of diagnostic and therapeutic interventions. Particularly importa…
When Prolog meets generative models: a new approach for managing knowledge and planning in robotic applications
Enrico Saccon, Ahmet Tikna, Davide De Martini +3
In this paper, we propose a robot oriented knowledge management system based on the use of the Prolog language. Our framework hinges on a special organisation of knowledge base tha…
A Passive Variable Impedance Control Strategy with Viscoelastic Parameters Estimation of Soft Tissues for Safe Ultrasonography
Luca Beber, Edoardo Lamon, Davide Nardi +3
In the context of telehealth, robotic approaches have proven a valuable solution to in-person visits in remote areas, with decreased costs for patients and infection risks. In part…
Automatic Interaction and Activity Recognition from Videos of Human Manual Demonstrations with Application to Anomaly Detection
Elena Merlo, Marta Lagomarsino, Edoardo Lamon +1
This paper presents a new method to describe spatio-temporal relations between objects and hands, to recognize both interactions and activities within video demonstrations of manua…
Design of an Energy-Aware Cartesian Impedance Controller for Collaborative Disassembly
Sebastian Hjorth, Edoardo Lamon, Dimitrios Chrysostomou +1
Human-robot collaborative disassembly is an emerging trend in the sustainable recycling process of electronic and mechanical products. It requires the use of advanced technologies…
An Ergonomic Role Allocation Framework for Dynamic Human-Robot Collaborative Tasks
Elena Merlo, Edoardo Lamon, Fabio Fusaro +4
By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal diso…
A Unified Architecture for Dynamic Role Allocation and Collaborative Task Planning in Mixed Human-Robot Teams
Edoardo Lamon, Fabio Fusaro, Elena De Momi +1
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are…
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…
Dynamic Human-Robot Role Allocation based on Human Ergonomics Risk Prediction and Robot Actions Adaptation
Elena Merlo, Edoardo Lamon, Fabio Fusaro +5
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limit…
An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams
Fabio Fusaro, Edoardo Lamon, Elena De Momi +1
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments.…
Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface
Juan M. Gandarias, Pietro Balatti, Edoardo Lamon +2
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-…