Multi-modal interfaces for natural Human-Robot Interaction

Presented at the 10th International Conference on Digital Enterprise Technology (CIRP DET) – (October 2020) Dionisis Andronas; Sotiris Makris; George Apostolopoulos; Nikos Fourtakas (Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and Aeronautics, University of Patras) Abstract Recent years, manufacturing aims on increasing flexibility while maintaining productivity for satisfying emerging market needs for higher product…

A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators

Published at Mechanism and Machine Theory: 156 pp. 104152 (February 2021) Marco Faroni; Nicola Pedrocchi (National Research Council of Italy); Manuel Beschi; Antonio Visioli (University of Brescia) Abstract Robotized assembly and manufacturing often require to modify the robot motion at runtime. When the primary constraint is to preserve the geometrical path as much as possible,…

Design of Human Robot Collaboration workstations – Two automotive case studies

Proceedings of the 5th International Conference on System-Integrated Intelligence (SYSINT) Dionisis Andronas; Angelos Argyrou; Konstantinos Fourtakas; Panagiotis Paraskevopoulos; Sotiris Makris (Laboratory for Manufacturing Systems and Automation, Department of Mechanical Engineering and Aeronautics, University of Patras) (May 2021) Abstract Human Robot Collaboration assembly cells benefit the capabilities and skills of both industrial robots and humans, although…

A Language for Timeline-based Planning

Proceedings of the 2nd Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis (OVERLAY), September 2020 Giulio Bernardi (Independent Researcher); Amedeo Cesta; Andrea Orlandini; Alessandro Umbrico (National Research Council, ISTC-CNR), and Marta Cialdea Maye (ROMA TRE University) Abstract In order to represent planning problems, Artificial Intelligence planning languages are used to describe environment’s conditions…

A Layered Control Approach to Human-Aware Task and Motion Planning for Human-Robot Collaboration

Presented at IEE RO-MAN Conference 2020 Marco Faroni; Stefano Ghidini; Nicola Pedrocchi (Italian National Research Council); Manuel Beschi (Università degli Studi di Brescia); Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta (CNR – Institute of Cognitive Science and Technology (July 2020) Abstract Combining task and motion planning efficiently in human-robot collaboration (HRC) entails several challenges because of the uncertainty…

An Ontology for Human-Robot Collaboration

Presented at 53rd CIRP Conference on Manufacturing Systems (CIRP) Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta (CNR – Institute of Cognitive Science and Technology (May 2021) Abstract The diffusion of Human-Robot Collaborative cells is prevented by some barriers. Classical control approaches seem not yet fully suitable for facing variability conveyed by the presence of human operators…

Generalized Multiple Correlation Coefficient as a Similarity Measurements between Trajectories

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ​ Julen Urain and Jan Peters (TU Darmstadt), 2019 Abstract A similarity distance measure between two trajectories is an essential tool to understand patterns in motion, for example, in Human-Robot Interaction or Imitation Learning. The problem has been faced in many fields, from Signal Processing,…

Design of Timeline-Based Planning Systems for Safe Human-Robot Collaboration

In: Vallati M., Kitchin D. (eds) Knowledge Engineering Tools and Techniques for AI Planning. ​Springer, Nature Andrea Orlandini; Amedeo Cesta and Alessandro Umbrico (Institute of Cognitive Science and Technology,CNR – National Research Council of Italy); Marta Cialdea Mayer (University of “Roma TRE”) – March 2020 Abstract During the last decade, industrial collaborative robots have entered assembly cells supporting human workers…

ROS-TiPlEx: How to make experts in A.I. Planning and Robotics talk together and be happy

Abstract presented at RO-MAN 2019  Viola, C., Orlandini, A., Umbrico, A. & Cesta, A. (2019). Abstract This paper presents a novel comprehensive framework called ROS-TiPlEx (Timeline-based Planning and Execution with ROS) to provide a shared environment in which experts in robotics and planning can easily interact to, respectively, encode information about low-level robot control and define task planning and…