Publication Activity

2012

Published Publications / Proceedings

R. Alami, Mathieu Warnier, Julien Guitton, Se verin Lemaignan and Emrah Akin Sisbot, When the robot considers the human...", Robotics Research, The International Symposium Series : Springer Tracts in Advanced Robotics, accepted, to be puslished

Boucher JD, Ventre-Dominey J, Dominey PF, Fagel S, Bailly G (2010) Facilitative effects of communicative gaze and speech in human-robot cooperation Proceedings of the 3rd international workshop on Affective interaction in natural environments

F. Dehais, E Akin Sisbot, Rachid Alami, Mickael Causse Physiological and sub- jective evaluation of a human-robot object hand-over task Applied Ergonomics , Vol 42, Nr 6, pp 785-791, 2011, doi = ”DOI : 10.1016/j.apergo.2010.12.005”, url = ”http ://www.sciencedirect.com/science/article/pii/S0003687011000044”

Dominey, P. F. & Warneken, F. (2012). The basis of shared intentions in human and robot cognition. New Ideas in Psychology, 29, 260-274.

Hamann, K., Warneken, F. and Tomasello, M. (2012). Children’s developing commitments to joint goals. Child Development, 83, 137–145.

Hamann, K., Warneken, F., Greenberg, J., & Tomasello, M. (2011). Collaboration encourages equal sharing in children but not in chimpanzees. Nature, 476, 328-331.

Hinaut X, Dominey PF (2011) A three-layered model of primate prefrontal cortex encodes identity and abstract categorical structure of behavioural sequences J Phys - Paris 105:16 -24

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.

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.

Khan, S.G., Herrmann, G. Lewis, F.L. Pipe, T. and Melhuish, C., (2012) Reinforcement Learning and Optimal Adaptive Control: An Overview and Implementation Examples, Elsevier Journal of Annual Reviews in Control (to appear in April 2012 issue).

Khamassi M, Quilodran R, Enel P, Procyk E, Dominey PF (2010) A computational model of integration between reinforcement learning and task monitoring in the prefrontal cortex. (In press) In Proc. Int. Conf. on Simulation of Adaptive Behaviour. Eds Springer Verlag.

Lallée, S., S. Lemaignan, et al. (2010). Towards a Platform-Independent Cooperative Human-Robot Interaction System: I. Perception. IROS, Taipei.

Lallée, S., S. Lemaignan, et al. (2011). Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions. IROS.

Lallée, S., C. Madden, et al. (2010). "Linking language with embodied teleological representations of action for humanoid cognition." Frontiers in Neurobotics.

Lallée, S., G. Metta, et al. (2009). Proprioception of the hand contributes to visual recognition speed and accuracy: Evidence from the Multi-Modal Convergence Map model of Parietal Cortex Area 5. SFN, Chicago.

Lallée, S., F. Warneken, et al. (2009). Learning to collaborate by observation. Epirob, Venice.

Lallée S, Pattacini U, BoucherJD, Lemaignan S, Lenz A, Melhuish C, Natale L, Skachek S, Hamann K, Steinwender J, Sisbot EA, Metta G, Alami R, Warnier M, Guitton J, Warneken F, Dominey PF (2011) Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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

Lallée, S., Pattacini, U., Hamann, K., Lemaignan, S., Melhuish, C., Natale, L., Skachek, S., Steinwender, J., Sisbot, E.A., Metta, G., Alami, R., Warnier, M., Guitton, j., Warneken, F.,& Dominey, P.F. (in press). Towards a Platform-Independent Cooperative Human-Robot Interaction System: II. Perception, Execution and Imitation of Goal Directed Actions. Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011).

Lallee, S., Yoshida, E., Mallet A., Nori, F., Natale, L., Metta, G., Warneken, F., Dominey, P.F. (2010). Human-Robot Cooperation Based on Interaction Learning. In: Sigaud, O. and Peters, J. (eds.) From Motor Learning to Interaction Learning in Robots. Springer.

Lallée S., Pattacini U., Lemaignan S., Lenz A., Melhuish C., Natale L., Skachek S., Hamann K., Steinwender J., Sisbot E.A., Metta G., Alami R., Warneken F. & Dominey P.F. ,Towards a Platform-Independent Cooperative Human Robot Interaction System: III. Learning Perception and Action in Shared Plans, IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco (CA), USA, September 25-30, 2011.

Lemaignan S. , Raquel Ros, E. Akin Sisbot, Rachid Alami, Michael Beetz Broqu`ere, D. Sidobre, R. Alami Grounding the interaction : anchoring situated discourse in every- day human-robot interaction Acceptable Robot Motions International Journal of Social Robotics , 2011

Lemaignan S. , Raquel Ros, Rachid Alami, Michael Beetz What are you talking about? Grounding dialogue in a perspective-aware robotic architecture In RO-MAN 2011, 20th IEEE International Symposium on Robot and Human Interactive Communi- cation, Atlanta, Georgia - 31 July - 3 August 2011

Lemaignan, S. and Ros, R. and Alami, R. "Dialogue in situated environments: A symbolic approach to perspective-aware grounding, clarification and reasoning for robot", Robotics, Science and Systems, Grounding Human-Robot Dialog for Spatial Tasks workshop, 2011.

Lemaignan, S. and Sisbot, E. A. and Alami, R. , "Anchoring interaction through symbolic knowledge", Proceedings of the 2011 Human-Robot Interaction Pioneers workshop, isbn = 978-0-557-79488-1, 2011

S. Lemaignan, Gilberto Echeverria, Michael Karg, Jim Mainprice, Alexandra Kirsch, Rachid Alami, " Human-Robot Interaction in the MORSE Simulator", HRI 2012, Late-Breaking Reports, March 2012

S. Lemaignan, Mamoun Gharbi, Jim Mainprice, Matthieu Herrb, Rachid Alami, "Roboscopie: A Theatre Performance for a Human and a Robot", Video proceedings, HRI-2012, Boston, March 2012

Madden CJ, Hoen M, Dominey PF (2009) A cognitive neuroscience perspective on embodied language for human–robot cooperation Brain and Lang 112(3): 180-188 download

Natale L., Nori F., Metta G., Fumagalli M., Ivaldi S., Pattacini U., Randazzo M., Schmitz A. & Sandini G., The iCub platform: a tool for studying intrinsically motivated learning, accepted for publication in Marco G. and M. Baldassarre (ed.),Intrinsically motivated learning in natural and artificial systems, Springer-Verlag, Berlin, 2012.

A. K. Pandey, Muhammad Ali, Matthieu Warnier and Rachid Alami, Towards Multi- State Visuo-Spatial Reasoning based Proactive Human-Robot Interaction, finalist to the best student paper award. In ICAR 2011, Talinn, Juillet 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.

Randazzo, M., Fumagalli, M., Nori, F., Natale, Metta, G. And Sandini, G., A comparison between joint level torque sensing and proximal F/T sensor torque estimation: implementation on the iCub, IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco (CA), USA, September 25-30, 2011.

Ros Espinoza, R., Lemaignan, S., Sisbot E. A., Alami, R., Steinwender, J., Hamann, K., and Warneken, F. (2010). Which one? Grounding the Referent Based on Efficient Human-Robot Interaction. Proceedings of the 19th IEEE International Symposium on Robot and Human Interactive Communication. Best paper award.

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

Saegusa, R., Natale, L., Metta, G. and Sandini, G., Active Learning for action mirroring, International Joint Conference on Neural Networks, San Jose, California, USA, July 31 - August 5, 2011

Saegusa, R., Natale, L., Metta, G. and Sandini, G., Cognitive robotics – active perception of the self and others -, 4th International Conference on Human System Interaction, Yokohama, Japan, May 19-21, 2011.

E.A. Sisbot, Raquel Ros and Rachid Alami, Situation Assessment for Human-Robot Interactive Object Manipulation, In RO-MAN 2011, 20th IEEE International Symposium on Robot and Human Interactive Communication, Atlanta, Georgia - 31 July - 3 August 2011

E.A. Sisbot, Rachid Alami, "A Human Aware Manipulation Planner", accepted for publication as Regular Paper in the IEEE Transactions on Robotics (T-RO), 2012

M. Warnier, Rachid ALAMI ,"Decisional issues for the control of a collaborative robot", Journées Nationales de la Robotique Interactive, Paris, November 2011,

Submitted 2012

Khan, S.G., Herrmann, G. Lewis, F.L. Pipe, T. and Melhuish, C., (2012) Reinforcement Learning and Optimal Adaptive Control: An Overview and Implementation Examples, Elsevier Journal of Annual Reviews in Control(to appear in April 2012 issue)

Fumagalli, M., Ivaldi, S., Randazzo M., Natale, L., Metta, G and Sandini, G., Force feedback exploiting tactile and proximal force/torque sensing. Theory and implementation on the humanoid robot iCub, submitted to Autonomous Robots.

J. Guitton, M. Warnier, S. Lemaignan, R. Alami "A step towards belief management for HRI planning", ECAI-2012 (Submitted)

A. K. Pandey, J-P. Saut, D. Sidobre, R. Alami “Towards Planning Human-Robot Interactive Manipulation Tasks: Task Dependent and Human Oriented Autonomous Selection of Grasp and Placement”, IEEE RAS/EMBS BioRob 2012 (Submitted)

A. K. Pandey, R. Alami, “How much Proactive? Towards Theory of Spaces for Synthesizing Proactive Robot Behaviors and Practical Instantiations for Human-Robot Interaction”, AAAI 2012 (Submitted)

A. K. Pandey, R. Alami, “Towards Effect-Based Autonomous Understanding of Task Semantics for Human-Robot Interaction”, International Journal of Social Robotics (Submitted)

A. K. Pandey, M. Ali, R. Alami, “Towards Task-Aware Proactive-Sociable Robot based on Multi-State Perspective-Taking”, International Journal of Social Robotics (Submitted)

M. Warnier, Julien Guitton, Séverin Lemaignan and Rachid Alami, Let’s clean the table together , submitted to IEEE IROS-2012

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)