Publications and PhD theses
Research efforts conducted within the project FourByThree have led to several publications.
| Nº | Year | Publication |
| 1 | 2017 | S Pellegrinelli, N Pedrocchi, L Molinari Tosatti, A. Fischer, T. Tolio. “Multi-robot spot-welding cells for car-body assembly: Design and motion planning.” Robotics and Computer Integrated Manufacturing, Volume 44, Pages 97–116, 2017. |
| 2 | J Konstantinova, S Krivic, A Stilli, J Piater, K Althoefer, “Autonomous Object Handover Using Wrist Tactile Information” in Towards Autonomous Robotic Systems, Lecture Notes in Computer Science, 2017 | |
| 3 | Konstantinova, J; Cotugno, G; Stilli, A; Noh, Y; Althoefer, K, “Object Classification Using Hybrid Fiber Optical Force/Proximity Sensor” in IEEE Sensors Conference, 2017 | |
| 4 | Konstantinova, J; Stilli, A; Althoefer, K, “Fingertip Fiber Optical Tactile Array with Two-level Spring Structure”, in MDPI Sensors, 2017 – accepted for publication | |
| 5 | Maurtua, I. Fernández, A. Tellaeche, J. Kildal, L. Susperregi, A. Ibarguren, B. Sierra, “Natural Multimodal Communication for Human-Robot Collaboration”, in International Journal of Advanced Robotic Systems, 2017 | |
| 6 | I.Maurtua, A.Ibarguren, J. Kildal, L. Susperregi, B. Sierra, “Human Robot collaboration in Industrial applications: safety, interaction and trust”, in International Journal of Advanced Robotic Systems, 2017 | |
| 7 | Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti, “Robot Compliance Task Oriented Reinforcement Learning Procedure for High-Accuracy Force Tracking”, In IEEE Transactions on Industrial Informatics, 2017 | |
| 8 | Loris Roveda, Niccolò Iannacci, Lorenzo Molinari Tosatti, “ Discrete-Time Formulation for Optimal Impact Control in Interaction Tasks”, in Journal of Intelligent & Robotic Systems, 2017 | |
| 9 | Stefania Pellegrinelli, Andrea Orlandini, Nicola Pedrocchi, Alessandro Umbrico, Tullio Tolio, “Motion planning and scheduling for human and industrial-robot collaboration”, in CIRP Annals of Manufacturing, Vol. 66(1). Pagg. 1-4. Elsevier. 2017 | |
| 10 | Alessandro Umbrico, Amedeo Cesta, Marta Cialdea Mayer, Andrea Orlandini, “PLATINUM: A new Framework for Planning and Acting”, Advances in Artificial Intelligence, AI*IA 2017. LNAI 10640. 2017 | |
| 11 | Amedeo Cesta, Lorenzo Molinari Tosatti, Andrea Orlandini, Nicola Pedrocchi, Stefania Pellegrinelli, Tullio Tolio, Alessandro Umbrico, “Planning and execution with flexible timelines: a formal accountecution with Robot Trajectory Generation in Industrial Human-Robot Collaboration”, in Proc. Of 4th Italian Workshop on Artificial Intelligence and Robotics (AIRO 2017). 2017 | |
| 12 | Nicola Gigante, Marta Cialdea Mayer, Angelo Montanari, Andrea Orlandini, “Complexity of Timeline-based Planning”, in Proc. Of the 27th International Conference on Automated Planning and Scheduling (ICAPS 2017). AAAI. 2017 | |
| 13 | R. Müller; M. Vette; A. Geenen; T. Masiak; A. Kanso, “Methodology for design of mechatronic robotic manipulators based on suitability for modern application scenarios”, IFAC, 2017 | |
| 14 | R. Müller; M. Vette; A. Geenen, “Sealing process on a large floor grid crossbeam assembly by human-robot-cooperation”, IFAC, 2017 | |
| 15 | Rainer Müller; Tobias Masiak, “Development of a mechatronic construction kit for a safe Human-Robot-Collaboration”, VDI – Automation, 2017, ISBN: 978-3-18-092293-5 | |
| 16 | Rainer Müller; Matthias Vette Ali Kanso, “A concept for construction of an adaptive reconfigurable robot manipulator to fit modern application scenarios”, in RACIR (Robotix-Academy Conference for Industrial Robotics), 2017, ISBN:978-3-8440-5502-3 | |
| 17 | R. Müller; M. Vette; A. Geenen; Tobias Masiak, “Improving Working Conditions in Aircraft Productions using Human-Robot-Collaboration in a Collaborative Riveting Process”, in SAE International, 2017, DOI: 10.4271/2017-01-2096 | |
| 18 | Vogel, C.; Walter, C.; Elkmann, N.: “Safeguarding and supporting future human-robot cooperative manufacturing processes by a projection- and camera-based technology”, Conference on Flexible Automation and Intelligent Manufacturing, FAIM2017, 27-30 June 2017, Modena, Italy. *IFF | |
| 19 | S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara, “A Geometry Deformation Model for Braided Continuum Manipulators”, Frontiers in Robotics and AI, 2017 | |
| 20 | Rainer Müller Prof. Dr.-Ing.; Matthias Vette Dipl.-Wirt.-Ing. (FH) M. Eng.; Aaron Geenen M. Eng.; Skill-based Dynamic Task Allocation in Human-Robot-Cooperation with the Example of Welding Application, 2017 | |
| 21 | 2016 | Shafti, B. Urbistondo Lazpita, H. A. Wurdemann, K. Althoefer, “Analysis of Comfort and Ergonomics for Clinical Work Environments”, EMBC, 2016. *KCL/QMUL |
| 22 | Stilli, H. A. Wurdemann, K. Althoefer, “A Novel Concept for Safe, Stiffness-Controllable Robot Links”, Soft Robotics Journal, 2016. *KCL/QMUL | |
| 23 | A. Ataka, P. Qi, A. Shiva, A. Shafti, H. A. Wurdemann, K. Althoefer, “Towards Safer Obstacle Avoidance for Continuum-Style Manipulator in Dynamic Environments”, BioRob, 2016. *KCL/QMUL | |
| 24 | Stilli, A. Cremoni, H. A. Wurdemann, K. Althoefer, “A Novel Inflatable and Stiffness-Controllable Endoscope for Minimal Invasive Surgery”, EMBC, 2016. *KCL/QMUL | |
| 25 | A. Ataka, A. Shafti, A. Shiva, H. Wurdemann, K. Althoefer, “Reactive Motion Planning for Mobile Continuum Arm in Dynamic Industrial Environment”, Workshop on Collaborative Robots for Industrial Applications, CLAWAR, 2016. *KCL/QMUL | |
| 26 | J. Kildal, I. Maurtua, “Revisiting the End User’s Perspective in Collaborative Human-Robot Interaction”, Workshop on Collaborative Robots for Industrial Applications, CLAWAR, 2016. *TEK | |
| 27 | I. Maurtua, I. Fernandez, J. Kildal, L. Susperregi, A. Tellaeche, A. Ibarguren, “Interacting with collaborating robots in industrial environments: a semantic approach”, SafePlan Workshop (ICAPS), 2016. *TEK | |
| 28 | G. Bernardi, A. Cesta, A. Orlandini and A. Umbrico, “Dynamic Task Planning for Safe Human Robot Collaboration”, in Proc. Of the ICAPS Workshop on Planning, Scheduling and Dependability in Safe Human-Robot Interaction (SafePlan) , 2016. *CNR-ISTC | |
| 29 | A. Ataka, A. Shiva, A. Shafti, H. A. Wurdemann, K. Althoefer, “Real-Time Obstacle Avoidance for Continuum Manipulator: Towards Safer Application in Human Environments”, SafePlan Workshop (ICAPS), 2016. *KCL/QMUL | |
| 30 | J. Konstantinova, A. Stilli, A. Faragasso, K. Althoefer, “Fingertip proximity sensor with realtime visual-based calibration”, IROS, 2016. *KCL/QMUL | |
| 31 | I. Maurtua, N. Pedrocchi, A. Cesta, A. Orlandini, J. De Gea, J. Saenz, A. Geenen, K. Althoefer, “FourByThree: Imagine humans and robots working hand in hand”, in Proc. Of the 21st IEEE International Conference on Emerging Technology and Factory Automation (ETFA 2016). Special Session on Safe Human-Robot Collaboration, 2016. *Consortium | |
| 32 | I. Fernandez, J. Kildal, I. Maurtua, A. Ibarguren, “Interacting with collaborating robots in industrial environments: a semantic approach”, in Proc. Of the 21st IEEE International Conference on Emerging Technology and Factory Automation (ETFA 2016). Special Session on Safe Human-Robot Collaboration, 2016. *TEK | |
| 33 | A. Ataka, P. Qi, A. Shiva, A. Shafti, H. A. Wurdemann, H. Liu, and K. Althoefer, “Real-time pose estimation towards safer motion planning for continuum manipulators”, ETFA Session on Safe Human-Robot Collaboration, 2016. *KCL/QMUL | |
| 34 | A. Cesta, A. Orlandini, G. Bernardi, A. Umbrico, “Towards a Planning-based Framework for Symbiotic Human-Robot Collaboration”, in Proc. Of the 21st IEEE International Conference on Emerging Technology and Factory Automation (ETFA 2016). Special Session on Safe Human-Robot Collaboration, 2016. *CNR-ISTC | |
| 35 | I. Maurtua, I. Fernandez, J. Kildal, L. Susperregi, A. Tellaeche, A. Ibarguren, “Enhancing safe human-robot collaboration through natural multimodal communication”, in Proc. Of the 21st IEEE International Conference on Emerging Technology and Factory Automation (ETFA 2016). 2016. *TEK | |
| 36 | A. Shafti, R.B. Ribas Manero, A.M. Borg, K. Althoefer, M.J. Howard, “Designing embroidered electrodes for wearable surface electromyography”, ICRA, 2016. *KCL/QMUL | |
| 37 | A. Shafti, R.B. Ribas Manero, A.M. Borg, K. Althoefer, M.J. Howard, “Embroidered Electromyography: A Systematic Design Guide”, ICRA, 2016. *KCL/QMUL | |
| 38 | J. De Gea Fernandez, H. Sprengel, M. Mallwitz, M. Zipper, B. Yu, “Designing Modular Series-Elastic Actuators for Safe Human-Robot Collaboration in Industrial Settings”, CLAWAR, 2016. *DFKI | |
| 39 | L. Roveda, N. Pedrocchi, F. Vicentini, L. Mlinari Tosatti, “An interaction controller formulation to systematically avoid force overshoots through impedance shaping method with compliant robot base”, Mechatronics Journal, 2016. *CNR-ITIA | |
| 40 | E. M. Sanfillippo, S. Borgo, “What are features? An ontology-based review of the literature”, Computer-Aided Design, 2016. *CNR-ISTC | |
| 41 | S. Pellegrinelli, H. Admoni, S. Javdani, S. Srinivasa, “Human-robot shared workspace collaboration via hindsight optimization”, IROS, 2016. *CNR-ITIA | |
| 42 | M. Cialdea Mayer, A. Orlandini, A. Umbrico, “Planning and execution with flexible timelines: a formal account”, Acta Informatica, 53(6-8), 2016. *CNR-ISTC | |
| 43 | Vogel, C.: “Projection-based sensor system for providing safety and interaction capabilities in human-robot cooperative applications”, ERF 2016, 3rd Workshop on Hybrid Production Systems, Ljubljana, Slovenia, March 21 – 23, 2016 *IFF | |
| 44 | Jose de Gea Fernandez, Marc Ronthaler, EU Projekt FourByThree – Auf dem Weg zu eigensicheren Robotern, Industrie 4.0 Managemen, 2016 | |
| 45 | A. Cesta, A. Orlandini, G. Bernardi, A. Umbrico, “Designing a Task Planning Framework for Safe Human-Robot Collaboration”, ETFA 2016 | |
| 46 | Stefania Pellegrinelli, Federico Lorenzo Moro, Nicola Pedrocchi, Lorenzo Molinari Tosatti, Tullio Tolio, “A probabilistic approach to workspace sharing for human–robot cooperation in assembly tasks”, CIRP Annals – Manufacturing Technology, 2016 | |
| 47 | Loris Roveda, Niccolo Iannacci, Federico Vicentini, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti, “Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks”, IEEE Robotics and Automation Letters | |
| 48 | Loris Roveda, Nicola Pedrocchi, Federico Vicentini, Lorenzo Molinari Tosatti, Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation, Robotica, 2016 | |
| 49 | Loris Roveda, Giacomo Pallucca, Nicola Pedrocchi, Francesco Braghin, Lorenzo Molinari Tosatti, “Cartesian tasks oriented friction compensation through a reinforcement learning approach”, 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016 | |
| 50 | 2015 | E. M. Sanfilippo, S. Borgo, “Feature-Based Modelling and Information Systems for Engineering” in AI*IA2015, Advances in Artificial Intelligence, Vol. 9336, Lecture Notes in Computer Science, pp. 151-163, 2015. *CNR-ISTC |
| 51 | E. M. Sanfilippo, C. Masolo, and D. Porello, “Design knowledge representation: An ontological perspective”, AIDE2015, Ferrara, Italy, Sep. 22, 2015. *CNR-ISTC | |
| 52 | C. Vogel, J. Saenz, N. Elkmann, “Real-world applications of human-robot interaction”, Tut. ICRA2015, Seattle, USA, May 26-30, 2015. *IFF | |
| 53 | M.F. Escudero Morland, K. Althoefer, and T. Nanayakkara, “Novel method to form adaptive internal impedance profiles in walkers”, EMBC2015, Milan, Italy, Aug. 25-29, 2015. *KCL | |
| 54 | F. L. Moro, “Use of gravitational stiffness in an attractor-based Whole-Body Motion Control approach”, IEEE Humanoids, 2015. *CNR-ITIA | |
| 55 | Manuel Beschi, Enrico Villagrossi, Nicola Pedrocchi, Lorenzo Molinari Tosatti, “A general analytical procedure for robot dynamic model reduction”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | |
| 56 | Loris Roveda, Federico Vicentini, Nicola Pedrocchi, Lorenzo Molinari Tosatti, “Impedance Control based Force-tracking Algorithm for Interaction Robotics Tasks: An Analytically Force Overshoots-free Approach”, Proceedings of the 12th International Conference on Informatics in Control, Automation, 2015 |
Several PhD theses have also been developed within the FourByThree project:
| CNR-ISTC | Alessandro Umbrico
“Timeline-based Planning and Execution with Uncertainty: Theory, Modeling Methodologies, and Practice” |
Completed |
| CNR-ITIA | Stefania Pellegrinelli
“Design and Motion Planning of Multi-Robot Assembly Cells for Body-in-White Spot Welding” |
Completed |
| Enrico Villagrossi
“Robot Dynamics Modelling and Control for Machining Applications” |
Completed | |
| Loris Roveda
“Model based compliance shaping control of light-weight manipulator in hard-contact industrial applications” |
Completed | |
| IFF | Christian Vogel
“Projection- and camera-based technology for safeguarding human-robot cooperation workplaces” |
In progress |
| KCL | Ali Shafti
“Electromyography-guided and Robot-assisted Ergonomics” |
Completed |
| Agostino Stilli
“A Novel Bioinspired Variable Stiffness Design Concept” |
Completed | |
| Ali Shiva
“Towards soft interaction: active haptic perception using soft robotics” |
In progress | |
| Ahmad Ataka Awwalur Rizqi
“Modeling Continuum Manipulators” |
In progress | |
| TEK | Iñaki Maurtua
“Strategies and technologies for safe human-robot collaboration in industrial settings” |
Completed |