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description Publicationkeyboard_double_arrow_right Preprint , Article 2021Publisher:Institute of Electrical and Electronics Engineers (IEEE) Funded by:EC | SecondHandsEC| SecondHandsAuthors: Pavlos Triantafyllou; Rafael Afonso Rodrigues; Sirapoab Chaikunsaeng; Diogo Almeida; +3 AuthorsPavlos Triantafyllou; Rafael Afonso Rodrigues; Sirapoab Chaikunsaeng; Diogo Almeida; Graham Deacon; Jelizaveta Konstantinova; Giuseppe Cotugno;The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community accepted guidelines or standards that define the integration of such components in a single robotic system. In this paper, we propose a methodology that assesses the software components of a candidate system on the basis of the effort required to integrate them and the impact their integration will have on a target system. We demonstrate how this methodology can be applied using an industrial tool packing system as an example. The system integrates a wide range of both in-house and third-party research outputs and software components. We prove the effectiveness of our approach by evaluating system performance with an experimental benchmark that assesses the robustness, reliability and operational speed of the system for the given packing task. We also demonstrate how our methodology can be used to predict the amount of integration time required for a component. The proposed integration methodology can be applied to any robotic system to facilitate its transition from the research to an industrial environment.
arXiv.org e-Print Ar... arrow_drop_down IEEE Robotics & Automation MagazineArticle . 2021 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/mra.2021.3064759&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen 0 citations 0 popularity Average influence Average impulse Average Powered by BIP!more_vert arXiv.org e-Print Ar... arrow_drop_down IEEE Robotics & Automation MagazineArticle . 2021 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/mra.2021.3064759&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Other literature type , Article 2020 SwitzerlandPublisher:Annual Reviews Funded by:EC | SecondHandsEC| SecondHandsAuthors: Ravichandar, Harish; Polydoros, Athanasios; Chernova, Sonia; Billard, Aude;Ravichandar, Harish; Polydoros, Athanasios; Chernova, Sonia; Billard, Aude;In the context of robotics and automation, learning from demonstration (LfD) is the paradigm in which robots acquire new skills by learning to imitate an expert. The choice of LfD over other robot learning methods is compelling when ideal behavior can be neither easily scripted (as is done in traditional robot programming) nor easily defined as an optimization problem, but can be demonstrated. While there have been multiple surveys of this field in the past, there is a need for a new one given the considerable growth in the number of publications in recent years. This review aims to provide an overview of the collection of machine-learning methods used to enable a robot to learn from and imitate a teacher. We focus on recent advancements in the field and present an updated taxonomy and characterization of existing methods. We also discuss mature and emerging application areas for LfD and highlight the significant challenges that remain to be overcome both in theory and in practice.
Infoscience - EPFL s... arrow_drop_down Infoscience - EPFL scientific publicationsOther literature typeData sources: Infoscience - EPFL scientific publicationsAnnual Review of Control Robotics and Autonomous SystemsOther literature type . Article . 2020 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1146/annurev-control-100819-063206&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess Routesbronze 294 citations 294 popularity Top 0.1% influence Top 1% impulse Top 0.1% Powered by BIP!more_vert Infoscience - EPFL s... arrow_drop_down Infoscience - EPFL scientific publicationsOther literature typeData sources: Infoscience - EPFL scientific publicationsAnnual Review of Control Robotics and Autonomous SystemsOther literature type . Article . 2020 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1146/annurev-control-100819-063206&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2019 GermanyPublisher:MDPI AG Funded by:EC | SecondHandsEC| SecondHandsPascal Weiner; Caterina Neef; Yoshihisa Shibata; Yoshihiko Nakamura; Tamim Asfour;Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the mechanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.
Europe PubMed Centra... arrow_drop_down Europe PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6983258Data sources: PubMed CentralSensorsOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYFull-Text: http://www.mdpi.com/1424-8220/20/1/101/pdfadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3390/s20010101&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen gold 26 citations 26 popularity Top 10% influence Top 10% impulse Top 10% Powered by BIP!more_vert Europe PubMed Centra... arrow_drop_down Europe PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6983258Data sources: PubMed CentralSensorsOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYFull-Text: http://www.mdpi.com/1424-8220/20/1/101/pdfadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3390/s20010101&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Conference object 2019Publisher:IEEE Funded by:EC | IMAGINE, EC | SecondHandsEC| IMAGINE ,EC| SecondHandsAuthors: Zhou, You; Gao, Jianfeng; Asfour, Tamim;Zhou, You; Gao, Jianfeng; Asfour, Tamim;Movement Primitives (MPs) are a promising way for representing robot motions in a flexible and adaptable manner. Due to the simple and compact form, they have been widely used in robotics. A major goal of the research activities on MPs is to learn models, which can adapt to changing task constraints, e. g. new motion targets. However, the adaptability of current MPs is limited to a small set of constraints due to their simple structures. It is indeed not a trivial task to maintain the simplicity of MPs representation and, at the same time, enhance their adaptability. In this paper, we discuss the adaptability of popular MPs such as Dynamic Movement Primitives (DMP) and Probabilistic Movement Primitives (ProMP) and propose a new simple but efficient formulation of MPs, the Via-points Movement Primitive (VMP), that can adapt to arbitrary via-points using a simple structured model that is based on the previous approaches but outperforms those in terms of extrapolation abilities.
ZENODO arrow_drop_down https://doi.org/10.1109/iros40...Conference object . 2019 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/iros40897.2019.8968586&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen 13 citations 13 popularity Top 10% influence Average impulse Top 10% Powered by BIP!visibility 100visibility views 100 download downloads 178 Powered bymore_vert ZENODO arrow_drop_down https://doi.org/10.1109/iros40...Conference object . 2019 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/iros40897.2019.8968586&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article , Preprint 2019 ItalyPublisher:Public Library of Science (PLoS) Funded by:EC | TRADR, EC | SecondHandsEC| TRADR ,EC| SecondHandsAuthors: Sanzari, Marta; Ntouskos, Valsamis; Pirri, Fiora;Sanzari, Marta; Ntouskos, Valsamis; Pirri, Fiora;We present a novel framework for the automatic discovery and recognition of motion primitives in videos of human activities. Given the 3D pose of a human in a video, human motion primitives are discovered by optimizing the `motion flux', a quantity which captures the motion variation of a group of skeletal joints. A normalization of the primitives is proposed in order to make them invariant with respect to a subject anatomical variations and data sampling rate. The discovered primitives are unknown and unlabeled and are unsupervisedly collected into classes via a hierarchical non-parametric Bayes mixture model. Once classes are determined and labeled they are further analyzed for establishing models for recognizing discovered primitives. Each primitive model is defined by a set of learned parameters. Given new video data and given the estimated pose of the subject appearing on the video, the motion is segmented into primitives, which are recognized with a probability given according to the parameters of the learned models. Using our framework we build a publicly available dataset of human motion primitives, using sequences taken from well-known motion capture datasets. We expect that our framework, by providing an objective way for discovering and categorizing human motion, will be a useful tool in numerous research fields including video analysis, human inspired motion generation, learning by demonstration, intuitive human-robot interaction, and human behavior analysis.
PLoS ONE; Archivio d... arrow_drop_down PLoS ONE; Archivio della ricerca- Università di Roma La SapienzaOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYEurope PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6443174Data sources: PubMed CentralArchivio della ricerca- Università di Roma La SapienzaArticle . 2019Data sources: Archivio della ricerca- Università di Roma La Sapienzahttps://doi.org/10.48550/arxiv...Article . 2017License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1371/journal.pone.0214499&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen gold 11 citations 11 popularity Top 10% influence Average impulse Top 10% Powered by BIP!more_vert PLoS ONE; Archivio d... arrow_drop_down PLoS ONE; Archivio della ricerca- Università di Roma La SapienzaOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYEurope PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6443174Data sources: PubMed CentralArchivio della ricerca- Università di Roma La SapienzaArticle . 2019Data sources: Archivio della ricerca- Università di Roma La Sapienzahttps://doi.org/10.48550/arxiv...Article . 2017License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1371/journal.pone.0214499&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2017 Italy, Spain, SpainPublisher:Institute of Electrical and Electronics Engineers (IEEE) Funded by:EC | SecondHands, EC | AEROARMSEC| SecondHands ,EC| AEROARMSPorzi, Lorenzo; Rota Bulò, Samuel; Penate-Sanchez, Adrian; Ricci, Elisa; Moreno-Noguer, Francesc;handle: 10261/166761 , 11572/194234 , 10553/117928 , 2117/116548
Exploiting RGB-D data by means of convolutional neural networks (CNNs) is at the core of a number of robotics applications, including object detection, scene semantic segmentation, and grasping. Most existing approaches, however, exploit RGB-D data by simply considering depth as an additional input channel for the network. In this paper we show that the performance of deep architectures can be boosted by introducing DaConv, a novel, general-purpose CNN block which exploits depth to learn scale-aware feature representations. We demonstrate the benefits of DaConv on a variety of robotics oriented tasks, involving affordance detection, object coordinate regression, and contour detection in RGB-D images. In each of these experiments we show the potential of the proposed block and how it can be readily integrated into existing CNN architectures. ESCI 475 468
Recolector de Cienci... arrow_drop_down Recolector de Ciencia Abierta, RECOLECTA; IRIS - Institutional Research Information System of the University of TrentoOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDUPCommons. Portal del coneixement obert de la UPCOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDRecolector de Ciencia Abierta, RECOLECTAOther literature type . Article . 2017 . Peer-reviewedFull-Text: http://ieeexplore.ieee.org/document/7778240/Data sources: Recolector de Ciencia Abierta, RECOLECTAUPCommons. Portal del coneixement obert de la UPCArticle . 2017License: CC BY NC NDData sources: UPCommons. Portal del coneixement obert de la UPCRecolector de Ciencia Abierta, RECOLECTA; IEEE Robotics and Automation LettersArticle . 2017 . Peer-reviewedRecolector de Ciencia Abierta, RECOLECTAArticle . 2022Data sources: Recolector de Ciencia Abierta, RECOLECTAadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/lra.2016.2637444&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen bronze 17 citations 17 popularity Top 10% influence Average impulse Top 10% Powered by BIP!visibility 129visibility views 129 download downloads 348 Powered bymore_vert Recolector de Cienci... arrow_drop_down Recolector de Ciencia Abierta, RECOLECTA; IRIS - Institutional Research Information System of the University of TrentoOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDUPCommons. Portal del coneixement obert de la UPCOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDRecolector de Ciencia Abierta, RECOLECTAOther literature type . Article . 2017 . Peer-reviewedFull-Text: http://ieeexplore.ieee.org/document/7778240/Data sources: Recolector de Ciencia Abierta, RECOLECTAUPCommons. Portal del coneixement obert de la UPCArticle . 2017License: CC BY NC NDData sources: UPCommons. Portal del coneixement obert de la UPCRecolector de Ciencia Abierta, RECOLECTA; IEEE Robotics and Automation LettersArticle . 2017 . Peer-reviewedRecolector de Ciencia Abierta, RECOLECTAArticle . 2022Data sources: Recolector de Ciencia Abierta, RECOLECTAadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/lra.2016.2637444&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2016Publisher:Frontiers Media SA Funded by:EC | SecondHands, EC | XPERIENCEEC| SecondHands ,EC| XPERIENCEWächter, Mirko; Ottenhaus, Simon; Kröhnert, Manfred; Vahrenkamp, Nikolaus; Asfour, Tamim;Programing sophisticated robots, such as service robots or humanoids, are still a complex endeavor. Although programming robotic applications requires specialist knowledge, a robot software environment should support convenient development, while maintaining full flexibility needed when realizing challenging robotics tasks. In addition, several desirable properties should be fulfilled, such as robustness, reusability of existing programs, and skill transfer between robots. In this work, we introduce the ArmarX statechart concept, which is used for describing control and data flow of robot programs. This event-driven statechart approach of ArmarX helps realizing important features, such as increased robustness through distributed program execution, convenient programming through graphical user interfaces, and versatility by interweaving dynamic statechart structure with custom user code. We show that using hierarchical and distributed statecharts increases reusability, allows skill transfer between robots, and hides complexity in robot programming by splitting robot behavior into control flow and functionality.
Frontiers in Robotic... arrow_drop_down Frontiers in Robotics and AIOther literature type . Article . 2016 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3389/frobt.2016.00033&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess Routesgold 27 citations 27 popularity Top 10% influence Top 10% impulse Top 10% Powered by BIP!more_vert Frontiers in Robotic... arrow_drop_down Frontiers in Robotics and AIOther literature type . Article . 2016 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3389/frobt.2016.00033&type=result"></script>'); --> </script>
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description Publicationkeyboard_double_arrow_right Preprint , Article 2021Publisher:Institute of Electrical and Electronics Engineers (IEEE) Funded by:EC | SecondHandsEC| SecondHandsAuthors: Pavlos Triantafyllou; Rafael Afonso Rodrigues; Sirapoab Chaikunsaeng; Diogo Almeida; +3 AuthorsPavlos Triantafyllou; Rafael Afonso Rodrigues; Sirapoab Chaikunsaeng; Diogo Almeida; Graham Deacon; Jelizaveta Konstantinova; Giuseppe Cotugno;The multidisciplinarity of robotics creates a need for robust integration methodologies that can facilitate the adoption of state-of-the-art research components in an industrial application. Unfortunately, there are no clear, community accepted guidelines or standards that define the integration of such components in a single robotic system. In this paper, we propose a methodology that assesses the software components of a candidate system on the basis of the effort required to integrate them and the impact their integration will have on a target system. We demonstrate how this methodology can be applied using an industrial tool packing system as an example. The system integrates a wide range of both in-house and third-party research outputs and software components. We prove the effectiveness of our approach by evaluating system performance with an experimental benchmark that assesses the robustness, reliability and operational speed of the system for the given packing task. We also demonstrate how our methodology can be used to predict the amount of integration time required for a component. The proposed integration methodology can be applied to any robotic system to facilitate its transition from the research to an industrial environment.
arXiv.org e-Print Ar... arrow_drop_down IEEE Robotics & Automation MagazineArticle . 2021 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/mra.2021.3064759&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen 0 citations 0 popularity Average influence Average impulse Average Powered by BIP!more_vert arXiv.org e-Print Ar... arrow_drop_down IEEE Robotics & Automation MagazineArticle . 2021 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/mra.2021.3064759&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Other literature type , Article 2020 SwitzerlandPublisher:Annual Reviews Funded by:EC | SecondHandsEC| SecondHandsAuthors: Ravichandar, Harish; Polydoros, Athanasios; Chernova, Sonia; Billard, Aude;Ravichandar, Harish; Polydoros, Athanasios; Chernova, Sonia; Billard, Aude;In the context of robotics and automation, learning from demonstration (LfD) is the paradigm in which robots acquire new skills by learning to imitate an expert. The choice of LfD over other robot learning methods is compelling when ideal behavior can be neither easily scripted (as is done in traditional robot programming) nor easily defined as an optimization problem, but can be demonstrated. While there have been multiple surveys of this field in the past, there is a need for a new one given the considerable growth in the number of publications in recent years. This review aims to provide an overview of the collection of machine-learning methods used to enable a robot to learn from and imitate a teacher. We focus on recent advancements in the field and present an updated taxonomy and characterization of existing methods. We also discuss mature and emerging application areas for LfD and highlight the significant challenges that remain to be overcome both in theory and in practice.
Infoscience - EPFL s... arrow_drop_down Infoscience - EPFL scientific publicationsOther literature typeData sources: Infoscience - EPFL scientific publicationsAnnual Review of Control Robotics and Autonomous SystemsOther literature type . Article . 2020 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1146/annurev-control-100819-063206&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess Routesbronze 294 citations 294 popularity Top 0.1% influence Top 1% impulse Top 0.1% Powered by BIP!more_vert Infoscience - EPFL s... arrow_drop_down Infoscience - EPFL scientific publicationsOther literature typeData sources: Infoscience - EPFL scientific publicationsAnnual Review of Control Robotics and Autonomous SystemsOther literature type . Article . 2020 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1146/annurev-control-100819-063206&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2019 GermanyPublisher:MDPI AG Funded by:EC | SecondHandsEC| SecondHandsPascal Weiner; Caterina Neef; Yoshihisa Shibata; Yoshihiko Nakamura; Tamim Asfour;Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control. Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design is fully parametric, allowing automated scaling of the fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the mechanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.
Europe PubMed Centra... arrow_drop_down Europe PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6983258Data sources: PubMed CentralSensorsOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYFull-Text: http://www.mdpi.com/1424-8220/20/1/101/pdfadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3390/s20010101&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen gold 26 citations 26 popularity Top 10% influence Top 10% impulse Top 10% Powered by BIP!more_vert Europe PubMed Centra... arrow_drop_down Europe PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6983258Data sources: PubMed CentralSensorsOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYFull-Text: http://www.mdpi.com/1424-8220/20/1/101/pdfadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3390/s20010101&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Conference object 2019Publisher:IEEE Funded by:EC | IMAGINE, EC | SecondHandsEC| IMAGINE ,EC| SecondHandsAuthors: Zhou, You; Gao, Jianfeng; Asfour, Tamim;Zhou, You; Gao, Jianfeng; Asfour, Tamim;Movement Primitives (MPs) are a promising way for representing robot motions in a flexible and adaptable manner. Due to the simple and compact form, they have been widely used in robotics. A major goal of the research activities on MPs is to learn models, which can adapt to changing task constraints, e. g. new motion targets. However, the adaptability of current MPs is limited to a small set of constraints due to their simple structures. It is indeed not a trivial task to maintain the simplicity of MPs representation and, at the same time, enhance their adaptability. In this paper, we discuss the adaptability of popular MPs such as Dynamic Movement Primitives (DMP) and Probabilistic Movement Primitives (ProMP) and propose a new simple but efficient formulation of MPs, the Via-points Movement Primitive (VMP), that can adapt to arbitrary via-points using a simple structured model that is based on the previous approaches but outperforms those in terms of extrapolation abilities.
ZENODO arrow_drop_down https://doi.org/10.1109/iros40...Conference object . 2019 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/iros40897.2019.8968586&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen 13 citations 13 popularity Top 10% influence Average impulse Top 10% Powered by BIP!visibility 100visibility views 100 download downloads 178 Powered bymore_vert ZENODO arrow_drop_down https://doi.org/10.1109/iros40...Conference object . 2019 . Peer-reviewedLicense: IEEE CopyrightData sources: Crossrefadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/iros40897.2019.8968586&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article , Preprint 2019 ItalyPublisher:Public Library of Science (PLoS) Funded by:EC | TRADR, EC | SecondHandsEC| TRADR ,EC| SecondHandsAuthors: Sanzari, Marta; Ntouskos, Valsamis; Pirri, Fiora;Sanzari, Marta; Ntouskos, Valsamis; Pirri, Fiora;We present a novel framework for the automatic discovery and recognition of motion primitives in videos of human activities. Given the 3D pose of a human in a video, human motion primitives are discovered by optimizing the `motion flux', a quantity which captures the motion variation of a group of skeletal joints. A normalization of the primitives is proposed in order to make them invariant with respect to a subject anatomical variations and data sampling rate. The discovered primitives are unknown and unlabeled and are unsupervisedly collected into classes via a hierarchical non-parametric Bayes mixture model. Once classes are determined and labeled they are further analyzed for establishing models for recognizing discovered primitives. Each primitive model is defined by a set of learned parameters. Given new video data and given the estimated pose of the subject appearing on the video, the motion is segmented into primitives, which are recognized with a probability given according to the parameters of the learned models. Using our framework we build a publicly available dataset of human motion primitives, using sequences taken from well-known motion capture datasets. We expect that our framework, by providing an objective way for discovering and categorizing human motion, will be a useful tool in numerous research fields including video analysis, human inspired motion generation, learning by demonstration, intuitive human-robot interaction, and human behavior analysis.
PLoS ONE; Archivio d... arrow_drop_down PLoS ONE; Archivio della ricerca- Università di Roma La SapienzaOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYEurope PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6443174Data sources: PubMed CentralArchivio della ricerca- Università di Roma La SapienzaArticle . 2019Data sources: Archivio della ricerca- Università di Roma La Sapienzahttps://doi.org/10.48550/arxiv...Article . 2017License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1371/journal.pone.0214499&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen gold 11 citations 11 popularity Top 10% influence Average impulse Top 10% Powered by BIP!more_vert PLoS ONE; Archivio d... arrow_drop_down PLoS ONE; Archivio della ricerca- Università di Roma La SapienzaOther literature type . Article . 2019 . Peer-reviewedLicense: CC BYEurope PubMed CentralArticle . 2019Full-Text: http://europepmc.org/articles/PMC6443174Data sources: PubMed CentralArchivio della ricerca- Università di Roma La SapienzaArticle . 2019Data sources: Archivio della ricerca- Università di Roma La Sapienzahttps://doi.org/10.48550/arxiv...Article . 2017License: arXiv Non-Exclusive DistributionData sources: Dataciteadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1371/journal.pone.0214499&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2017 Italy, Spain, SpainPublisher:Institute of Electrical and Electronics Engineers (IEEE) Funded by:EC | SecondHands, EC | AEROARMSEC| SecondHands ,EC| AEROARMSPorzi, Lorenzo; Rota Bulò, Samuel; Penate-Sanchez, Adrian; Ricci, Elisa; Moreno-Noguer, Francesc;handle: 10261/166761 , 11572/194234 , 10553/117928 , 2117/116548
Exploiting RGB-D data by means of convolutional neural networks (CNNs) is at the core of a number of robotics applications, including object detection, scene semantic segmentation, and grasping. Most existing approaches, however, exploit RGB-D data by simply considering depth as an additional input channel for the network. In this paper we show that the performance of deep architectures can be boosted by introducing DaConv, a novel, general-purpose CNN block which exploits depth to learn scale-aware feature representations. We demonstrate the benefits of DaConv on a variety of robotics oriented tasks, involving affordance detection, object coordinate regression, and contour detection in RGB-D images. In each of these experiments we show the potential of the proposed block and how it can be readily integrated into existing CNN architectures. ESCI 475 468
Recolector de Cienci... arrow_drop_down Recolector de Ciencia Abierta, RECOLECTA; IRIS - Institutional Research Information System of the University of TrentoOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDUPCommons. Portal del coneixement obert de la UPCOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDRecolector de Ciencia Abierta, RECOLECTAOther literature type . Article . 2017 . Peer-reviewedFull-Text: http://ieeexplore.ieee.org/document/7778240/Data sources: Recolector de Ciencia Abierta, RECOLECTAUPCommons. Portal del coneixement obert de la UPCArticle . 2017License: CC BY NC NDData sources: UPCommons. Portal del coneixement obert de la UPCRecolector de Ciencia Abierta, RECOLECTA; IEEE Robotics and Automation LettersArticle . 2017 . Peer-reviewedRecolector de Ciencia Abierta, RECOLECTAArticle . 2022Data sources: Recolector de Ciencia Abierta, RECOLECTAadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/lra.2016.2637444&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess RoutesGreen bronze 17 citations 17 popularity Top 10% influence Average impulse Top 10% Powered by BIP!visibility 129visibility views 129 download downloads 348 Powered bymore_vert Recolector de Cienci... arrow_drop_down Recolector de Ciencia Abierta, RECOLECTA; IRIS - Institutional Research Information System of the University of TrentoOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDUPCommons. Portal del coneixement obert de la UPCOther literature type . Article . 2017 . Peer-reviewedLicense: CC BY NC NDRecolector de Ciencia Abierta, RECOLECTAOther literature type . Article . 2017 . Peer-reviewedFull-Text: http://ieeexplore.ieee.org/document/7778240/Data sources: Recolector de Ciencia Abierta, RECOLECTAUPCommons. Portal del coneixement obert de la UPCArticle . 2017License: CC BY NC NDData sources: UPCommons. Portal del coneixement obert de la UPCRecolector de Ciencia Abierta, RECOLECTA; IEEE Robotics and Automation LettersArticle . 2017 . Peer-reviewedRecolector de Ciencia Abierta, RECOLECTAArticle . 2022Data sources: Recolector de Ciencia Abierta, RECOLECTAadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.1109/lra.2016.2637444&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.eudescription Publicationkeyboard_double_arrow_right Article 2016Publisher:Frontiers Media SA Funded by:EC | SecondHands, EC | XPERIENCEEC| SecondHands ,EC| XPERIENCEWächter, Mirko; Ottenhaus, Simon; Kröhnert, Manfred; Vahrenkamp, Nikolaus; Asfour, Tamim;Programing sophisticated robots, such as service robots or humanoids, are still a complex endeavor. Although programming robotic applications requires specialist knowledge, a robot software environment should support convenient development, while maintaining full flexibility needed when realizing challenging robotics tasks. In addition, several desirable properties should be fulfilled, such as robustness, reusability of existing programs, and skill transfer between robots. In this work, we introduce the ArmarX statechart concept, which is used for describing control and data flow of robot programs. This event-driven statechart approach of ArmarX helps realizing important features, such as increased robustness through distributed program execution, convenient programming through graphical user interfaces, and versatility by interweaving dynamic statechart structure with custom user code. We show that using hierarchical and distributed statecharts increases reusability, allows skill transfer between robots, and hides complexity in robot programming by splitting robot behavior into control flow and functionality.
Frontiers in Robotic... arrow_drop_down Frontiers in Robotics and AIOther literature type . Article . 2016 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3389/frobt.2016.00033&type=result"></script>'); --> </script>
For further information contact us at helpdesk@openaire.euAccess Routesgold 27 citations 27 popularity Top 10% influence Top 10% impulse Top 10% Powered by BIP!more_vert Frontiers in Robotic... arrow_drop_down Frontiers in Robotics and AIOther literature type . Article . 2016 . Peer-reviewedadd ClaimPlease grant OpenAIRE to access and update your ORCID works.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.This Research product is the result of merged Research products in OpenAIRE.
You have already added works in your ORCID record related to the merged Research product.All Research productsarrow_drop_down <script type="text/javascript"> <!-- document.write('<div id="oa_widget"></div>'); document.write('<script type="text/javascript" src="https://www.openaire.eu/index.php?option=com_openaire&view=widget&format=raw&projectId=10.3389/frobt.2016.00033&type=result"></script>'); --> </script>
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