IAS-LAB PUBLICATIONS
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; Non assegn; FRA; ROU; GRC; ESP; ITA; 2015-06-05T03:33:24Z; 9788895872018
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
W2784679911
Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; AREA MIN. 11 - Scienze storiche, filosofiche, pedagogiche e psicologiche; 2015-06-05T01:56:26Z
Published: title_year
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Authors: AREA MIN. 09 - Ingegneria industriale e dell'informazione; ITA; 2015-06-05T05:56:47Z; 9788895872018
Published: MATCH_RESULT_STATUS_FAILURE_NO_MATCH
scopus.description.abstract||scopus.relation.conferencename||scopus.relation.article||scopus.relation.conferencedate||scopus.identifier.isbn||scopus.description.allpeopleoriginal||scopus.relation.conferenceplace
Authors: eng 2-s2.0-77950568591
Journal: Italy||Japan||Japan||Italy
Published: doi
DOI: University of Padua||Osaka University||Osaka University||University of Padua
5379591
Volume: DallaLibera F.; Minato T.; Ishiguro H.; Menegatti E. Pages: DallaLibera||Minato||Ishiguro||Menegatti-Controlling robots by Central Pattern Generators (CPGs) is a widespread bio-inspired technique for the realization of robot motions. The numerous parameters of the CPGs, often specialized for a specific task, are usually set by automatic techniques like genetic algorithms or policy gradient. However, using these approaches leaves the users with little control on the resulting motion, which can be modified only by changing the evaluation function. Conversely manually setting each parameter gives the user full control over the motion, but identifying which parameters should be altered to obtain a desired effect is not intuitive and therefore developing motion requires time and effort. We present a system that allows programming the CPG parameters by interacting with the robot and in particular by intuitively touching the robot, giving the user full control on the resulting motion without requiring a direct modification of the parameter values. ©2009 IEEE.
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Authors: 859 RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS; eng 2-s2.0-67349268521
Journal: Italy||Japan||United States||Japan||Italy||Italy
Published: false
Volume: Dalla Libera F.; Minato T.; Fasel I.; Ishiguro H.; Pagello E.; Menegatti E. Pages: Dalla Libera||Minato||Fasel||Ishiguro||Pagello||Menegatti-Most humanoid soccer robot teams design the basic movements of their robots, like walking and kicking, off-line and manually. Once these motions are considered satisfactory, they are stored in the robot's memory and played according to a high level behavioral strategy. Much time is spent in the development of the movements, and despite the significant progress made in humanoid soccer robots, the interfaces employed for the development of motions are still quite primitive. In order to accelerate development, an intuitive instruction method is desired. We propose the development of robot motions through physical interaction. In this paper we propose a "teaching by touching" approach; the human operator teaches a motion by directly touching the robot's body parts like a dance instructor. Teaching by directly touching is intuitive for instructors. However, the robot needs to interpret the instructor's intention since tactile communication can be ambiguous. This paper presents a method to learn the interpretation of the touch meaning and investigates, through experiments, a general (shared among different users) and intuitive touch manner. © 2009 Elsevier B.V. All rights reserved.
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Authors: 760 PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS; eng 2-s2.0-67349235262
Journal: Italy||Germany||Singapore
Published: false
Volume: Menegatti E.; Behnke S.; Zhou C. Pages: Menegatti||Behnke||Zhou
scopus.description.abstract||scopus.relation.conferencename||scopus.relation.article||scopus.relation.conferencedate||scopus.identifier.isbn||scopus.description.allpeopleoriginal||scopus.relation.conferenceplace
Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-70449686323
Journal: Italy||Italy||Japan||Japan||Italy
Published: doi
5164787
Volume: Pretto A.; Menegatti E.; Takahashi M.; Suzuki T.; Pagello E. Pages: Pretto||Menegatti||Takahashi||Suzuki||Pagello-In this paper, we present a framework for 3D visual odometry applied to a hospital-use transfer robot equipped with an omni-drive system. The approach is based on features extracted out of and matched in monocular image sequences. We propose a new feature detection and tracking scheme robust to motion blur and well suitable in environment, as a hospital, where the local features are sparse and not much distinctive. Moreover, this approach match very well the omnidirectional drive robot for two reasons: the poorly reliable odometry of this drive system and the brisk jerks these robots experience when they cross an uneven floor. Experiments performed on a relatively long path in an indoor environment with repetitive patterns and sparse local features show the effectiveness of the proposed technique in reliably extracting and matching features and in the generation of a correct visual odometry. Results are obtained without the aid of any external sensors other than the robot's low-cost camera. We also presents a performance evaluation of the proposed features detection-descriptor scheme. © 2009 IEEE.
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Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-70350359687
Journal: Italy||Italy||Germany||Germany||Italy
Published: doi
5152447
Volume: Pretto A.; Menegatti E.; Bennewitz M.; Burgard W.; Pagello E. Pages: Pretto||Menegatti||Bennewitz||Burgard||Pagello-Motion blur is a severe problem in images grabbed by legged robots and, in particular, by small humanoid robots. Standard feature extraction and tracking approaches typically fail when applied to sequences of images strongly affected by motion blur. In this paper, we propose a new feature detection and tracking scheme that is robust even to nonuniform motion blur. Furthermore, we developed a framework for visual odometry based on features extracted out of and matched in monocular image sequences. To reliably extract and track the features, we estimate the point spread function (PSF) of the motion blur individually for image patches obtained via a clustering technique and only consider highly distinctive features during matching. We present experiments performed on standard datasets corrupted with motion blur and on images taken by a camera mounted on walking small humanoid robots to show the effectiveness of our approach. The experiments demonstrate that our technique is able to reliably extract and match features and that it is furthermore able to generate a correct visual odometry, even in presence of strong motion blur effects and without the aid of any inertial measurement sensor. © 2009 IEEE.
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Authors: 519 THE BOULEVARD, LANGFORD LANE, KIDLINGTON, OXFORD OX5 1GB, ENGLAND; eng 2-s2.0-67349161775
Journal: Italy||Italy||Italy||Italy
Published: false
DOI: Polo S.Anna Valdera||University of Padua||University of Padua||University of Padua
Volume: Greggio N.; Menegatti E.; Silvestri G.; Pagello E. Pages: Greggio||Menegatti||Silvestri||Pagello-In this paper, we illustrate the development of a realistic simulation of a humanoid robot model in a virtual environment using USARSim (Urban Search and Rescue Simulator). USARSim provides an accurate 3D simulation of a virtual environment with a detailed rendering and a realistic physics. Moreover, USARSim allows users to observe the virtual environment from different views. One of these is the egocentric view, which can simulate the camera mounted on the robot. The small humanoid robot presented in this work is Robovie-M, developed by VStone Ltd. (Japan). This robot is used by our team Artisti in the RobotCup soccer competitions. Reported experiments compare the behaviors of a real robot and of its virtual model, when controlled by the same control software to asses the possibility to faithfully simulate a robot with 22 degrees of freedom in USARSim. Moreover, we discuss the possibility to close the control loop of the robot in simulation, by simulating also the main robot sensor, i.e. the camera. The experiments show that USARSim, despite being a simple simulator based on a low cost computer game, provides an accurate enough simulation of the physics and a realistic rendering of the 3D scene enabling a faithful simulation of a small humanoid robot at low cost. Thus, one can entirely test the robot software modules in the simulation (namely: the motion control modules, the vision system modules and, by closing the robot control loop in simulation, the behavior and behavior-selection modules). © 2009 The Franklin Institute.
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Authors: + 345 E 47TH ST, NEW YORK, NY 10017 USA; eng 2-s2.0-70349751530
Journal: Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy||Italy
Published: doi
5066878
Volume: Chella A.; Pagello E.; Menegatti E.; Sorbello R.; Anzalone S.M.; Cinquegrani F.; Tonin L.; Piccione F.; Prifitis K.; Blanda C.; Buttita E.; Tranchina E. Pages: Chella||Pagello||Menegatti||Sorbello||Anzalone||Cinquegrani||Tonin||Piccione||Prifitis||Blanda||Buttita||Tranchina-Brain Computer Interface is a system that offers also a support to the patients with neuromuscular diseases as Amyotrophic Lateral Sclerosis. In this paper are presented some works with the aim to integrate brain computer interfaces and mobile robots. The two aim of this project are: (i) to test an improved BCI experience through the help of a physical robot, so that brain signals are stronger stimulate. (ii) to use a remote robot controlled by a highly paralyzed patient via a BCI through a friendly Graphic User. Some preliminary experiments are presented in this paper about one of the possible application: a robotic museum guide (PeopleBot and Pioneer3 robot), that can transmit remote visual perceptions to the patient.,Assistive Devices/Technology, Human Robot Interface. © 2009 IEEE.