Publications

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. Mavsar, M. Simonič, and A. Ude (2024) Human intention prediction by deep LSTM and transformer networks for real-time human-robot collaboration, Robotics and Autonomous Systems (submitted).

2023

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).