Publication Activity

2011

S. G. Khan, G. Herrmann, F. L. Lewis, T. Pipe, and C. Melhuish, “A novel Q-Learning Based Cartesian Model Reference Compliance Controller Implementation for a Humanoid Robotic Arm,” Accepted for IEEE International Conference CIS/RAM 2011, China, 2011.

S. G. Khan, J. Jallani, G. Herrmann, T. Pipe, and C. Melhuish, “Task Space Integral Sliding Mode Controller Implementation for 4DOF of a Humanoid BERTII arm with Posture Control.,” Accepted for TAROS 2011, UK Robotics Conference, Sheffield, UK, 2011.

Khan, S.G., Lenz ,A., Herrmann, G., Pipe, T. and Melhuish, C., (2011) Toward Safe Human Robot Interaction: Integration of Compliant Control, An Anthropomorphic Hand and Verbal, 3rd International Conference on Advanced Humanoid Robotics Research (ICAHRR), FIRA Congress 2011, Taiwan

Khan, S.G. and Herrmann, G. and Lewis, F.L. and Pipe, T. and Melhuish, C. (2011) A Novel Q-Learning Based Adaptive Optimal Controller Implementation for a Humanoid Robotic Arm Accepted at International Federation of Automatic Control ( IFAC) World Congress 2011 Milan, Italy.

J. Jallani, S. G. Khan, G. Herrmann, and C. Melhuish, “A Novel Approach of Robust Compliance Control For Robot Fingers,” Accepted for the FIRA 2011 Conference: ICAHRR, Taiwan, 2011.

S. G. Khan, G. Herrmann, F. L. Lewis, T. Pipe, and C. Melhuish, “A Novel Q-Learning Based Adaptive Optimal Controller Implementation for a Humanoid Robotic Arm,” Accepted at IFAC 2011 World Congress, Milan,Italy, 2011.

Pipe A G, Vaidyanathan R, Melhuish C, Bremner P, Robinson P, Clark R A J, Lenz A, Eder K, Hawes N, Ghahramani Z, Fraser M, Mirmehdi M, Healey P, Skachek S, 2010, Affective Robotics: Human Motion and Behavioural Inspiration for Safe Cooperation between Humans and Humanoid Assistive Robots, in Biomimetics: Nature-Based Innovation, Y. Bar-Cohen (Ed.), CRC Press / Taylor & Francis Group, ISBN-10: 1439834768, ISBN-13: 9781439834763, in press.

L. Pulina, A. Tacchella. NeVer: A Tool for Artificial Neural Networks Verification. Accepted for publication to Annals of Mathematics and Artificial Intelligence.

Hamann, K., Warneken, F., & Tomasello, M. (in press). Children's developing commitments to joint goals. Child Development.

Submitted 2011

Stephane Lallée, Ugo Pattacini, Jean David Boucher, Séverin Lemaignan, Alexander Lenz, Chris Melhuish, Lorenzo Natale, Sergey Skachek, Katharina Hamann, Jasmin Steinwender, Emrah Akin Sisbot, Giorgio Metta, Rachid Alami, Matthieu Warnier, Julien Guitton, Felix Warneken, Peter Ford Dominey “Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions.” IEEE IROS 2011

S. Ivaldi, M. Fumagalli, M. Randazzo, F. Nori, G. Metta, G. Sandini. Computing robot internal/external wrenches by means of F/T sensors: theory and implementation on the iCub humanoid, submitted to Robotics Science and Systems, 2011.

G. Metta, L. Natale, U. Pattacini, L. Pulina, A. Tacchella. Formal Verification Techniques for Adaptive Robot Behaviors. Submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco (CA), USA, September 25-30, 2011

Amit Kumar Pandey, Muhammad Ali, Matthieu Warnier and Rachid Alami, “Towards Multi-State Visuo-Spatial Reasoning based Proactive Human-Robot Interaction,” ICAR 2011,

Amit Kumar Pandey and Rachid Alami, “Towards Multi-State Visuo-Spatial Explanation based Understanding of Task Semantics for Human-Robot Interaction,” IROS 2011

Amit Kumar Pandey, Jean-Philippe Saut, Daniel Sidobre and Rachid Alami, “Towards Task Oriented Human-Favored Grasp and Placement Selection for Co-operative Human-Robot Interaction,” RSS, 2011

2010

Khan, S.G. Herrmann, G., Pipe, A and Melhuish, C. (2010),Safe Adaptive Compliance Control of a Humanoid Robotic Arm with Anti-Windup Compensation and Posture Control, / International Journal of Social Robotics, Springer. 2, 3, (pp. 305-319), ISSN: 1875-4791, DOI:10.1007/s12369-010-0058-7 /

Khan, S.G, Herrmann, G. Pipe, T. and Melhuish, C., (2010), Adaptive Multi-dimensional Compliance Control of a Humanoid Robotic Arm with Anti-Windup Compensation./ Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pp 2218-2223/ abstract

Metta G., Natale L., Pathak S., Pulina L. & Tacchella A. 2010, ‘Safe and Effective Learning: a Case Study’, in IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010.

Fumagalli M., Gijsberts A., Ivaldi S., Jamone L., Metta G., Natale L., Nori F. & Sandini G. 2010, ‘Learning to Exploit Proximal Force Sensing: a Comparison Approach’, in O. Sigaud & J. Peters (eds.), From Motor Learning to Interaction Learning in Robots, Studies in Computational Intelligence, vol. 264, Springer-Verlag, pp. 159–177.

Lallee S., Yoshida E., Mallet A., Nori F., Natale L., Metta G., Warneken F., Dominey P.F. (2010). 'Human-Robot Cooperation Based on Learning & Spoken Language Interaction', in From Motor Learning to Interaction Learning in Robots, Studies in Computational Intelligence, vol. 264, Springer-Verlag

Dominey, P.F. & Warneken, F. (2010). 'The basis of shared intentions in robot and human cognition', New Ideas in Psychology (in press).

Steinwender J., Warneken F., Tomasello M. (March 2010). The Development of Individual and Collaborative Problem-Solving in Young Children. Poster presented at the International Conference on Infant Studies, Baltimore.

Hamann, K., Warneken, F., & Tomasello, M. (March 2010). Young Peers Share to Fulfill a Joint Goal. Poster presented at the International Conference on Infant Studies, Baltimore.

R. Ros, E. A. Sisbot, R. Alami, J. Steinwender, K. Hamann, and F. Warneken, "Solving ambiguities with perspective taking" In Proceedings of International Conference on Human-Robot Interaction, 2010.

Lallee S, Madden C, Hoen M and Dominey PF (2010) Linking language with embodied and teleological representations of action for humanoid cognition. Front. Neurorobot. 4:8. doi: 10.3389/fnbot.2010.00008

Stephane Lallée, Séverin Lemaignan, Alexander Lenz, Chris Melhuish, Lorenzo Natale, Sergey Skachek,Tijn van Der Zant, Felix Warneken, Peter Ford Dominey (2010) 'Towards a Platform-IndependentCooperative Human-Robot Interaction System: I. Perception', IEEE IROS 2010.

Jamone, L., Fumagalli, M., Natale, L., Nori, F., Metta, G. & Sandini, G., Machine-Learning Based Control of a Human-like Tendon-driven Neck, IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010.

Fumagalli, M., Nori F., Randazzo, M., Natale, L., Metta, G. and Sandini, G., Exploiting Proximal F/T Measurements for the iCub Torque Control, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010.

Pattacini, U., Nori, F., Natale, L., Metta, G. and Sandini, G., An experimental evaluation of a novel minimum-jerk cartesian controller for humanoid robots, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010.

R. Ros, S. Lemaignan, E. Akin Sisbot, Rachid Alami, Jasmin Steinwender, Katharina Hamann, Felix Warneken, "Which One? Grounding the Referent Based on Ef?cient Human-Robot Interaction" RO-MAN 2010 (best paper)

Amit Kumar Pandey and Rachid Alami, “Mightability: A Multi-State Visuo-Spatial Reasoning for Human-Robot Interaction”, ISER 2010

S. Lemaignan, R. Ros, L. Mosenlechner , R. Alami and M. Beetz, "ORO, a knowledge management module for cognitive architectures in robotics", IROS 2010

A. Kumar Pandey and Rachid Alami "Mightability Maps: A Perceptual Level Decisional Framework for Co-operative and Competitive Human-Robot Interaction", IROS 2010

A. Lenz, S. Skachek, K. Hamann, J. Steinwender, A. G. Pipe, and C. Melhuish, “The BERT2 infrastructure: An integrated system for the study of human-robot interaction,” in Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on, 2010, pp. 346-351.

D. Bazo, R. Vaidyanathan, A. Lenz, and C. Melhuish, “Design and testing of a hybrid expressive face for a humanoid robot,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 5317-5322.

Project Deliverable 7 - Grasping Controller Feb(pdf document))

Second Year Project Activities Summary - March (pdf document)

Project Deliverable 5 - Systems Engineering Analysis Report - July (pdf document))

First Year Project Activities Summary - March (pdf document)

Project Deliverable 4 - Experimental data on child engagement in cooperative tasks - June (pdf document))

Project Deliverable 2 - Progress Report - July (pdf document)

Project Deliverable 3 - Systems Engineering Specification - October (pdf document)