2024
M. Simonič, A. Ude, and B. Nemec (2024) Hierarchical learning of robotic contact policies, Robotics and Computer-Integrated Manufacturing, 86:102657. (open access)
M. Simonič, B. Kuster, M. Mavsar, G. Šavle, S. Ruiz, M. Bem, M. Majcen Hrovat, and A. Ude (2024) An application study on reconfigurable robotic workcells and policy adaptation for electronic waste recycling, IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM), pp. 180-186, Hangzhou, China.
S. Haddadin and E. Shahriari (2024) Unified force-impedance control, The International Journal of Robotics Research, doi: 10.1177/02783649241249194 (open access)
M. Mavsar, M. Simonič, and A. Ude (2024) Human intention prediction by deep LSTM and transformer networks for real-time human-robot collaboration, submitted to a journal.
F. Jakob, X. Chen, H. Sadeghian, and S. Haddadin (2024) Enhancing the Tracking Performance of Passivity-based High-Frequency Robot Cloud Control, IEEE International Conference on Robotics and Automation (ICRA), pp. 12097-12103, Yokohama, Japan.
K. Karacan, R. J. Kirschner, H. Sadeghian, F. Wu, and S. Haddadin (2024) Tactile robot programming: Transferring task constraints into constraint-based unified force-impedance control, IEEE International Conference on Robotics and Automation (ICRA), pp. 204-210, Yokohama, Japan.
E. Stefanini, G. Lentini, G. Giorgio, M. M. Catalano, and A. Bicchi (2024) Exploring Saliency for Learning Sensory-Motor Contingencies in Loco-Manipulation Tasks, Robotics, no. 4: 58. (open access)
F. Kong, G. Zambella, S. Monteleone, G. Grioli, M. G. Catalano, and A. Bicchi (2024) A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments, IEEE Access, vol. 12, pp. 48108-48125. (open access)
M. Deniša and A. Ude (2024) Improving ergonomics of collaborative robot workcells using passive reconfigurable fixtures, IEEE Access, doi: 10.1109/ACCESS.2024.3451975 (open access)
X. Chen, K. Karacan, H. Sadeghian, and S. Haddadin (2024) Online transfer and adaptation of tactile skill: A teleoperation framework, Conference on Robot Learning (CoRL), Munich, Germany.
K. Karacan, A. Zhang, H. Sadeghian, F. Wu, and S. Haddadin (2024) Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE.
B. Kuster, M. Simonič, and A. Ude (2024) Vision-Language Model Based Robot Action Prediction for E-Waste Disassembly Operations, 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA), pp. 539-541
S. Ruiz, B. Kuster, M. Tamosiunaite, A. Ude, and F. Wörgötter (in press) Computer Vision for Automated Robotic Device Disassembly: Object Detection, Pose Estimation, and Action Prediction. Accepted to: International Symposium on Artificial Life and Robotics (AROB), Beppu, Japan.
2023
S. Li, T. Kulvicius, M. Tamosiunaite, and F. Wörgötter. (2023). Simulated mental imagery for robotic task planning. Frontiers in Neurorobotics, 17:1218977 (open access)
K. Karacan, R. J. Kirschner, H. Sadeghian, F. Wu, and S. Haddadin. (2023). The Inherent Representation of Tactile Manipulation Using Unified Force-Impedance Control. 62nd IEEE Conference on Decision and Control (CDC), pp. 4745-4752.
B. Nemec, M. Majcen Hrovat, M. Simonič, S. Shetty, S. Calinon, and A. Ude (2023) Robust Execution of Assembly Policies Using a Pose Invariant Task Representation, International Conference on Ubiquitous Robots (UR), pp. 779-786.
X. Chen, H. Sadeghian, L. Chen, M. Tröbinger, A. Swirkir, A. Naceri, and S. Haddadin, S (2023). A Passivity-based Approach on Relocating High-Frequency Robot Controller to the Edge Cloud. IEEE International Conference on Robotics and Automation (ICRA), pp. 5242-5248.
B. Kuster, M. Simonič, and A. Ude (2023) Adaptive Robotic Levering for Recycling Tasks, Advances in Service and Industrial Robotics: RAAD 2023, Springer, Cham, pp. 417-425.
K. Karacan, D. Grover, H. Sadeghian, F. Wu, S. Haddadin (2023). Tactile exploration using unified force-impedance control. IFAC-PapersOnLine, 56(2), pp. 5015-5020. (open access)
2022
H. Li, C. J. Ford, M. Bianchi, M. G. Catalano, E. Psomopoulou, and N. F. Lepora (2022) BRL/Pisa/IIT SoftHand: A low-cost, 3D-printed, underactuated, tendon-driven hand with soft and adaptive synergies, IEEE Robotics and Automation Letters, 7(4):8745-8751. (open access)
K. Karacan, H. Sadeghian, R. J. Kirschner, and S. Haddadin (2022) Passivity-based skill motion learning in stiffness-adaptive unified force-impedance control, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
S. Monteleone, F. Negrello, M. G. Catalano, M. Garabini, and G. Grioli (2022) Damping in compliant actuation: A review, IEEE Robotics & Automation Magazine, 29(3):47-66. (open access)
S. Monteleone, F. Negrello, G. Grioli, and M. G. Catalano (2022) dSEDA: A differential series elastic damped actuator, International Conference on Robotics and Automation (ICRA), pp. 11395-11401.
E. Shahriari, S. A. B. Birjandi, and S. Haddadin (2022) Passivity-based adaptive force-impedance control for modular multi-manual object manipulation. IEEE Robotics and Automation Letters, 7(2):2194-2201.
M. Simonič, M. Majcen Hrovat, S. Džeroski, A. Ude and B. Nemec (2022) Determining Exception Context in Assembly Operations from Multimodal Data, Sensors, 22(20):7962. (open access)
2021
N. F. Lepora, C. Ford, A. Stinchcombe, A. Brown, J. Lloyd, M. G. Catalano, M. Bianchi, and B. Ward-Cherrier (2021). Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands, IEEE International Conference on Robotics and Automation (ICRA), pp. 1622-1628.
Z. Lončarević, R. Pahič, A. Ude, and A. Gams (2021) Generalization-Based Acquisition of Training Data for Motor Primitive Learning by Neural Networks, Applied Sciences, 11:1013. (open access)
A. Toedtheide, J. Kühn, E. P. Fortunić, and S. Haddadin (2021). An integrated, force-sensitive, impedance controlled, tendon-driven wrist: Design, modeling, and control. IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), pp. 25-32.
R. J. Kirschner, A. Kurdas, K. Karacan, P. Junge, S. Birjandi, N. Mansfeld, S. Abdolshah, and S. Haddadin (2021) Towards a reference framework for tactile robot performance and safety benchmarking, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4290-4297.
R. Mengacci, G. Zambella, G. Grioli, D. Caporale, M. G. Catalano, and A. Bicchi (2021) An open-source ROS-Gazebo toolbox for simulating robots with compliant actuators, Frontiers in Robotics and AI, 8:713083. (open access)
R. Mengacci, M. Garabini, G. Grioli, M. G. Catalano, and Bicchi, A. (2021) Overcoming the torque/stiffness range tradeoff in antagonistic variable stiffness actuators, IEEE/ASME Transactions on Mechatronics, 26(6):3186-3197.
R. Pahič, Z. Lončarević, A. Gams, and A. Ude (2021) Robot skill learning in latent space of a deep autoencoder neural network, Robotics and Autonomous Systems, vol. 135, art. 103690, pp. 1-12. (open access)
P. Radanovič, J. Jereb, I. Kovač, and A. Ude (2021) Design of a modular robotic workcell platform enabled by plug & produce connectors, 20th International Conference on Advanced Robotics (ICAR), pp. 304-309.
M. Simonič, R. Pahič, T. Gašpar, S. Abdolshah, S. Haddadin, M. G. Catalano, F. Wörgötter, and A. Ude (2021) Modular ROS-based software architecture for reconfigurable, Industry 4.0 compatible robotic workcells, 20th International Conference on Advanced Robotics (ICAR), pp. 44-51.
2020
T. Gašpar, M. Deniša, P. Radanovič, B. Ridge, T. R. Savarimuthu, A. Kramberger, M. Priggemeyer, J. Roßmann, F. Wörgötter, T. Ivanovska, S. Parizi, Ž. Gosar, I. Kovač, and A. Ude (2020) Smart hardware integration with advanced robot programming technologies for efficient reconfiguration of robot workcells, Robotics and Computer-Integrated Manufacturing, vol. 66, no. 101979 (open access).