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).

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)


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)


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)


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.


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).