Publications

This page lists publications created as part of the RoboHow project, as well as a few earlier publications describing relevant techniques employed in the project.

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Action sequencing and error production in stroke patients with apraxia -- Behavioral modeling using Bayesian Logic Networks (Charmayne Mary Lee Hughes, Moritz Tenorth, Marta Bienkiewicz, Joachim Hermsdörfer), In 6th International Conference on Health Informatics (HEALTHINF 2013), 2013. [bib] [pdf]
Predicting Slippage and Learning Manipulation Affordances through Gaussian Process Regression. (Francisco Vina, Yasemin Bekiroglu, Christian Smith, Yiannis Karayiannidis, Danica Kragic), In IEEE-RAS International Conference on Humanoid Robots, 2013. [bib] [pdf]
Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects (Yiannis Karayiannidis, Christian Smith, Francisco Vina, Danica Kragic), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. [bib] [pdf]
Integrating 3D Features and Virtual Visual Servoing for Hand-Eye and Humanoid Robot Pose Estimation (Xavi Gratal, Christian Smith, Møarten Björkman, Danica Kragic), In IEEE-RAS International Conference on Humanoid Robots, 2013. [bib] [pdf]
Enhancing Visual Perception of Shape through Tactile Glances (Møarten Björkman, Yasemin Bekiro\uglu, Virgile Högman, Danica Kragic), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. [bib] [pdf]
Interactive perception and manipulation of unknown constrained mechanisms using adaptive control. (Yiannis Karayiannidis, Christian Smith, Francisco Vina, Petter Ögren, Danica Kragic), In Mobile Manipulation Workshop on Interactive Perception, IEEE International Conference on Robotics and Automation, 2013. [bib] [pdf]
Constraint-based Movement Representation grounded in Geometric Features (Georg Bartels, Ingo Kresse, Michael Beetz), In Proceedings of the IEEE-RAS International Conference on Humanoid Robots, 2013. [bib] [pdf]
Tracking-based Interactive Segmentation of Textureless Objects (Karol Hausman, Ferenc Balint-Benczedi, Dejan Pangercic, Zoltan-Csaba Marton, Ryohei Ueda, Kei Okada, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2013. [bib] [pdf]
Decomposing CAD Models of Objects of Daily Use and Reasoning about their Functional Parts (Moritz Tenorth, Stefan Profanter, Ferenc Balint-Benczedi, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [bib] [pdf]
Automated Alignment of Specifications of Everyday Manipulation Tasks (Moritz Tenorth, Johannes Ziegltrum, Michael Beetz), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [bib] [pdf]
Building Knowledge-enabled Cloud Robotics Applications using the Ubiquitous Network Robot Platform (Moritz Tenorth, Koji Kamei, Satoru Satake, Takahiro Miyashita, Norihiro Hagita), In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. [bib] [pdf]
Cumulative Object Categorization in Clutter (Zoltan-Csaba Marton, Ferenc Balint-Benczedi, Oscar Martinez Mozos, Dejan Pangercic, Michael Beetz), In 2nd Workshop on Robots in Clutter, in conjunction with RSS2013, 2013. [bib] [pdf]
The RoboEarth Language: Representing and Exchanging Knowledge about Actions, Objects, and Environments (Extended Abstract) (Moritz Tenorth, Alexander Clifford Perzylo, Reinhard Lafrenz, Michael Beetz), In 23rd International Joint Conference on Artificial Intelligence (IJCAI 2013). Special track on Best Papers in Sister Conferences, 2013. (Invited paper.) [bib] [pdf]
CRAMm -- Memories for Robots Performing Everyday Manipulation Activities (Jan Winkler, Moritz Tenorth, Asil Kaan Bozcuoglu, Michael Beetz), In Second Annual Conference on Advances in Cognitive Systems, 2013. [bib] [pdf]
Tracking hand articulations: Relying on 3D visual hulls versus relying on multiple 2D cues (I. Oikonomidis, N. Kyriazis, K. Tzevanidis, A.A. Argyros), In Proceedings of the IEEE International Symposium on Ubiquitous Virtual Reality 2013 (ISUVR 2013), 2013. [bib] [pdf]
Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization using Vision (Don Joven Agravante, Andrea Cherubini, Antoine Bussy, Abderrahmane Kheddar), In IROS'13: International Conference on Robots and Intelligent Systems, 2013. [bib] [pdf]
Using vision and haptic sensing for human-humanoid haptic joint actions (Don Joven Agravante, Andrea Cherubini, Abderrahmane Kheddar), In CISRAM'13: Cybernetics and Intelligent Systems Robotics, Automation and Mechatronics, 2013. [bib] [pdf]
Point-Cloud Multi-Contact Planning for Humanoids: Preliminary Results (Stanislas Brossette, Joris Vaillant, Fran\c cois Keith, Adrien Escande, Abderrahmane Kheddar), In CISRAM'13: Cybarnetics and Intelligent Systems Robotics, Automation and Mechatronics, volume 1, 2013. [bib] [pdf]
Rapid application development of constrained-based task modelling and execution using Domain Specific Languages (Dominick Vanthienen, Markus Klotzbuecher, Tinne De Laet, Joris De Schutter, Herman Bruyninckx), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. [bib] [pdf]
A Spiking Neural Model for Sequential Action Control (G. Kachergis, R. de Kleijn, B. Hommel), In 14th Annual Summer Interdisciplinary Conference, 2013. [bib]
Preview coordination: An enhanced execution model for online scheduling of mobile manipulation tasks (E. Scioni, M. Klotzbuecher, T. De Laet, H. Bruyninckx, M. Bonfe), In Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013. [bib] [pdf] [doi]
Learning Robot Skills Through Motion Segmentation and Constraints Extraction (Lucia Pais, Keisuke Umezawa, Yoshihiko Nakamura, Aude Billard), In Workshop on Collaborative Manipulation, ACM/IEEE International Conference on Human Robot Interaction HRI 2013, 2013. [bib] [pdf]
A novel trajectory serial reaction time paradigm (F. Kachergis G. de Kleijn R. & Hommel B. Berends), In NVP Winter Conference, 2013. [bib]
Other Publications
Extracting task constraints as a middle layer between low level control and high level planning (A. L. Pais, A. Billard), RSS Workshop on Programming with constraints, 2013. [bib]
2012
Journal Articles
Dual arm manipulation - survey (Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V. Dimarogonas, Danica Kragic), In Robotics and Autonomous Systems, volume 60, 2012. () [bib] [pdf] [doi]
Geometric Relations between Rigid Bodies ( Part 2 ) From Semantics to Software (Tinne De Laet, Steven Bellens, Herman Bruyninckx, Joris De Schutter), In IEEE Robotics & Automation Magazine, 2012. [bib] [pdf]
Visual servoing on unknown objects (Xavi Gratal, Javier Romero, Jeannette Bohg, Danica Kragic), In Mechatronics, volume 22, 2012. [bib] [pdf]
Cognition-Enabled Autonomous Robot Control for the Realization of Home Chore Task Intelligence (Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth, Lars Kunze, Nico Blodow, Dejan Pangercic), In Proceedings of the IEEE, volume 100, 2012. [bib]
Iterative learning of grasp adaptation through human corrections (Eric L. Sauser, Brenna D. Argall, Giorgio Metta, Aude G. Billard), In Robot. Auton. Syst., North-Holland Publishing Co., volume 60, 2012. [bib]
Dual arm manipulation—A survey (Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos V. Dimarogonas, Danica Kragic), In Robotics and Autonomous Systems, volume 60, 2012. () [bib] [pdf]
Conference and Workshop Papers
Force-Sensorless and Bimanual Human-Robot Comanipulation (Dominick Vanthienen, Tinne De Laet, Wilm Decré, Herman Bruyninckx, Joris De Schutter), In 10th IFAC Symposium on Robot Control (SYROCO), volume 10, 2012. [bib] [pdf]
Optimal Command Ordering for Serial Link Manipulators (Christian Smith, Yiannis Karayiannidis), In IEEE/RAS International Conference on Humanoid Robots, 2012. [bib]
A Multi Objective Control Approach to Online Dual Arm Manipulation (Petter Ögren, Christian Smith, Yiannis Karayiannidis, Danica Kragic), In International IFAC Symposium on Robotic Control, 2012. [bib] [pdf]
Design of force-driven online motion plans for door opening under uncertainties (Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, Danica Kragic), In IEEE/RAS Conference on Intelligent Robots and Systems, 2012. (to appear in the workshop on Real-time Motion Planning: Online, Reactive, and in Real-time) [bib] [pdf]
Knowledge Enabled High-Level Task Abstraction and Execution (Jan Winkler, Georg Bartels, Lorenz Mösenlechner, Michael Beetz), In , volume 2, 2012. [bib] [pdf]
Accurate Evaluation of a Distance Function for Optimization-based Motion Planning (Lee Youngeun, Sébastien Lengagne, Abderrahmane Kheddar, Young J. Kim), In IROS'12: International Conference on Intelligent Robots and Systems, volume 1, 2012. [bib] [pdf] [doi]
Human-Humanoid Haptic Joint Object Transportation Case Study (Antoine Bussy, Abderrahmane Kheddar, André Crosnier, Fran\c cois Keith), In IROS'12: International Conference on Intelligent Robots and Systems, volume 1, 2012. (Robohow.Cog) [bib] [pdf] [doi]
Proactive Behavior of a Humanoid Robot in a Haptic Transportation Task with a Human Partner (A. Bussy, P. Gergondet, A. Kheddar, F. Keith, A. Crosnier), In Ro-Man'2012: International Symposium on Robot and Human InteractiveCommunication, IEEE/RSJ, 2012. [bib] [pdf] [doi]
Exploring Humanoid Robot Locomotion Capabilities in Virtual Disaster Response Scenarios (Karim Bouyarmane, Joris Vaillant, Fran\c cois Keith, Abderahmanne Kheddar), In IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids'12), volume 1, 2012. (Japan Society for the Promotion of Science (JSPS) Grant-in-Aid for Scientific Research (B), 22300071, 2010. RoboHow.Cog) [bib] [pdf]
On the Dynamics Modeling of Free-Floating-Base Articulated Mechanisms and Applications to Humanoid Whole-Body Dynamics and Control (Karim Bouyarmane, Abderahmanne Kheddar), In IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids'12), volume 1, 2012. (Japan Society for the Promotion of Science (JSPS) Grant-in-Aid for Scientific Research (B), 22300071, 2010. RoboHow.Cog) [bib] [pdf]
Bridging the Gap: One Shot Grasp Synthesis Approach (S. El Khoury, Miao Li, A. Billard), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012. [bib]
Teleoperation in Presence of Uncertainties : a Constraint-Based Approach (Gianni Borghesan, Bert Willaert, Tinne De Laet), In Proc. of 10th IFAC Symposium on Robot Control, 2012. [bib] [pdf]
Tactile interface user-friendliness evaluated in the context of robot programming by demonstration (Ana L. Pais, Aude Billlard), In Workshop on Advances in Tactile Sensing and Touch based HRI, 2012. [bib]
Improving human-robot interaction through facial expressions of emotion and touch detection (A.L. Pais, A. Billard, B. Robins, K. Dautenhahn), In CogSys, International Conference on Cognitive Systems, 2012. [bib]
Making Virtual Pancakes --- Acquiring and Analyzing Data of Everyday Manipulation Tasks through Interactive Physics-based Simulations (Lars Kunze, Andrei Haidu, Michael Beetz), In Poster and Demo Track of the 35th German Conference on Artificial Intelligence (KI-2012), 2012. [bib]
Pouring and Mixing Liquids --- Understanding the Physical Effects of Everyday Robot Manipulation Actions (Reinhard Klapfer, Lars Kunze, Michael Beetz), In 35th German Conference on Artificial Intelligence (KI-2012), Workshop on Human Reasoning and Automated Deduction, 2012. [bib] [pdf]
Knowledge Processing for Autonomous Robot Control (Moritz Tenorth, Michael Beetz), In AAAI Spring Symposium on Designing Intelligent Robots: Reintegrating AI, 2012. [bib] [pdf]
CRAM -- a Cognitive Robot Abstract Machine (Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth, Thomas Rühr), In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib] [pdf]
Semantic Object Maps for Household Tasks (Michael Beetz, Moritz Tenorth, Dejan Pangercic, Benjamin Pitzer), In 5th International Conference on Cognitive Systems (CogSys 2012), 2012. [bib]
Movement-aware Action Control -- Integrating Symbolic and Control-theoretic Action Execution (Ingo Kresse, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf]
A Unified Representation for Reasoning about Robot Actions, Processes, and their Effects on Objects (Moritz Tenorth, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf]
Semantic Object Maps for Robotic Housework - Representation, Acquisition and Use (Dejan Pangercic, Moritz Tenorth, Benjamin Pitzer, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf]
Everything Robots Always Wanted to Know about Housework (But were afraid to ask) (Daniel Nyga, Michael Beetz), In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [bib] [pdf]
Tracking the articulated motion of two strongly interacting hands (I. Oikonomidis, N. Kyriazis, A.A. Argyros), In IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2012), 2012. [bib] [pdf]
A Multi Objective Control Approach to Online Dual Arm Manipulation (Petter Ögren, Christian Smith, Yiannis Karayiannidis, Danica Kragic), In International IFAC Symposium on Robotic Control, 2012. [bib] [pdf]
Adaptive Force/Velocity Control for Opening Unknown Doors (Yiannis Karayiannidis, Christian Smith, Petter Ögren, Danica Kragic), In International IFAC Symposium on Robotic Control, 2012. [bib] [pdf]
Design of force-driven online motion plans for door opening under uncertainties (Yiannis Karayiannidis, Christian Smith, Francisco Vina, Petter Ögren, Danica Kragic), In IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Real-time Motion Planning: Online, Reactive, and in Real-time, 2012. [bib]
"Open Sesame!" - Adaptive Force/Velocity Control for Opening Unknown Doors (Yiannis Karayiannidis, Christian Smith, Francisco Vina, Petter Ögren, Danica Kragic), In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012. [bib] [pdf]
Optimal Command Ordering for Serial Link Manipulators (Christian Smith, Yiannis Karayiannidis), In IEEE-RAS International Conference on Humanoid Robots, 2012. [bib]
Cooperative Object Path Following Control by means of Mobile Manipulators: a Switched Systems Approach (Johan Markdahl, Yiannis Karayiannidis, Xiaoming Hu), In International IFAC Symposium on Robotic Control, 2012. [bib]
2011
Journal Articles
Web-enabled Robots -- Robots that use the Web as an Information Resource (Moritz Tenorth, Ulrich Klank, Dejan Pangercic, Michael Beetz), In Robotics & Automation Magazine, IEEE, volume 18, 2011. [bib] [pdf]
Conference and Workshop Papers
Multimodal Autonomous Tool Analyses and Appropriate Application (Ingo Kresse, Ulrich Klank, Michael Beetz), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
Robotic Roommates Making Pancakes (Michael Beetz, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Lorenz Mösenlechner, Dejan Pangercic, Thomas Rühr, Moritz Tenorth), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
Other Publications
A Robot that Shops for and Stores Groceries (Dejan Pangercic, Mathe Koppany, Zoltan-Csaba Marton, Lucian-Cosmin Goron, Monica-Simona Opris, Martin Schuster, Moritz Tenorth, Dominik Jain, Thomas Ruehr, Michael Beetz), AAAI Video Competition (AIVC 2011), San Francisco, CA, USA, 2011. [bib]
2010
Conference and Workshop Papers
CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments (Michael Beetz, Lorenz Mösenlechner, Moritz Tenorth), In IEEE/RSJ International Conference on Intelligent RObots and Systems., 2010. [bib] [pdf]
Understanding and Executing Instructions for Everyday Manipulation Tasks from the World Wide Web. (Moritz Tenorth, Daniel Nyga, Michael Beetz), In IEEE International Conference on Robotics and Automation (ICRA)., 2010. [bib] [pdf]
submitted
Conference and Workshop Papers
Trajectory Effects in a Novel Serial Reaction Time Task (G. Kachergis, F. Berends, R. de Kleijn, B. Hommel), In Proceedings of the 36th Annual Conference of the Cognitive Science Society, submitted. [bib]
Reward Effects on Sequential Action Learning in a Trajectory Serial Reaction Time Task (G. Kachergis, F. Berends, R. de Kleijn, B. Hommel), In Proceedings of the 36th Annual Conference of the Cognitive Science Society, submitted. [bib]
Conference and Workshop Papers
Learning Object-level Impedance Control for Robust Grasping and Dexterous Manipulation (M. Li, H. Yin, K. Tahara, A. Billard), In Proceedings of International Conference on Robotics and Automation (ICRA), 2014.. [bib]
PhD Thesis
Composable Robot Motion Stack: Implementing constrained hybrid dynamics using semantic models of kinematic chains (Azamat Shakhimardanov), PhD thesis, Arenberg doctoral school, Department of Mechanical Engineering, KU Leuven, Belgiumyear=2015. [bib]
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