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An.Dy SIGNED

Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration

Total Cost €

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EC-Contrib. €

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Partnership

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Project "An.Dy" data sheet

The following table provides information about the project.

Coordinator
FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA 

Organization address
address: VIA MOREGO 30
city: GENOVA
postcode: 16163
website: www.iit.it

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Italy [IT]
 Project website https://andy-project.eu/
 Total cost 3˙950˙025 €
 EC max contribution 3˙950˙025 € (100%)
 Programme 1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
 Code Call H2020-ICT-2016-1
 Funding Scheme RIA
 Starting year 2017
 Duration (year-month-day) from 2017-01-01   to  2020-12-31

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA IT (GENOVA) coordinator 874˙317.00
2    DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV DE (KOELN) participant 698˙246.00
3    INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE FR (LE CHESNAY CEDEX) participant 582˙238.00
4    OTTOBOCK SE & CO. KGAA DE (DUDERSTADT) participant 441˙500.00
5    INSTITUT JOZEF STEFAN SI (LJUBLJANA) participant 425˙222.00
6    AnyBody Technology A/S DK (Aalborg) participant 317˙250.00
7    XSENS TECHNOLOGIES B.V. NL (ENSCHEDE) participant 316˙250.00
8    IMK AUTOMOTIVE GMBH DE (CHEMNITZ) participant 295˙000.00

Map

 Project objective

Recent technological progress in robot physical interaction permitted robots to actively and safely share with human a common workspace. Thanks to these technologies, Europe nowadays leads the robotic market in the niche of safety certified robots by endowing them with the ability to react to unintentional contacts. ANDY leverages these technologies and strengthen the European leadership by endowing robots with the ability to control physical collaboration through intentional interaction. These advances necessitate progresses along three main directions: measuring, modeling and helping humans engaged in intentional collaborative physical tasks. First, ANDY will innovate the way of measuring human whole-body motions developing the ANDYSUIT, a wearable force and motion tracking technology. Second, ANDY will develop the ANDYMODEL, a technology to learn cognitive models of human behavior in collaborative tasks. Third, ANDY will propose the ANDYCONTROL, an innovative technology for helping humans through predictive physical collaboration. ANDY will accelerate take-up and deployment by validating its progresses in realistic scenarios. In the first validation scenario the robot is identified with an industrial collaborative robot (i.e. robot=cobot) which adapts its ergonomy to individual workers. In the second validation scenario the robot is identified with an assistive exoskeleton (i.e. robot=exoskeleton) optimizing human comfort and reducing physical stress. In the third validation scenario the robot is identified with a humanoid (i.e. robot=humanoid) offering assistance to a human while maintaining the balance of both.

 Deliverables

List of deliverables.
Website and software repository online Websites, patent fillings, videos etc. 2019-12-02 17:54:40
ANDYDATASET specification Documents, reports 2019-12-02 17:54:40
Data management plan - 1 Open Research Data Pilot 2019-12-02 17:54:40
ANDYSUIT & updates - 1 Documents, reports 2019-12-02 17:54:40
Specifications for the ANDYSUIT Documents, reports 2019-12-02 17:54:39
Reactive control Documents, reports 2019-12-02 17:54:39

Take a look to the deliverables list in detail:  detailed list of An.Dy deliverables.

 Publications

year authors and title journal last update
List of publications.
2018 MAURICE, P. PADOIS, V. MEASSON, Y BIDAUD, P.
Assesing and improving human movements using sensitivity analysis and digital human simulation
published pages: , ISSN: , DOI:
World Congress of Biomechanics 2019-12-02
2019 Maurice, Pauline; Padois, Vincent; Measson, Yvan; Bidaud, Philippe
Assessing and improving human movements using sensitivity analysis and digital human simulation
published pages: , ISSN: 1362-3052, DOI:
International Journal of Computer Integrated Manufacturing 2 2019-12-02
2019 Franz Steinmetz, Verena Nitsch, Freek Stulp
Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition
published pages: 1-1, ISSN: 2377-3766, DOI: 10.1109/LRA.2019.2928782
IEEE Robotics and Automation Letters 4 2019-12-02
2018 Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics
published pages: , ISSN: , DOI:
ICRA 2018 - International Conference on Robotics and Automation 3 2019-12-02
2018 Maurice, P.; Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Pucci, D.; Nori, F.
Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project
published pages: , ISSN: , DOI:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy 2019-12-02
2018 Penco, L.; Clement, B.; Modugno, V.; Mingo Hoffman, E.M.; Nava, G.; Pucci, D.; Tsagarakis, N.G.; Mouret, J.-B.; Ivaldi, S.
Robust real-time whole-body motion retargeting from human to humanoid
published pages: , ISSN: , DOI:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS) 2019-12-02
2019 Tirupachuri, Yeshasvi; Nava, Gabriele; Latella, Claudia; Ferigo, Diego; Rapetti, Lorenzo; Tagliapietra, Luca; Nori, Francesco; Pucci, Daniele
Towards Partner-Aware Humanoid Robot Control Under Physical Interactions
published pages: , ISSN: , DOI:
http://arxiv.org/abs/1809.06165 2019-12-02
2019 Claudia Latella, Marta Lorenzini, Maria Lazzaroni, Francesco Romano, Silvio Traversaro, M. Ali Akhras, Daniele Pucci, Francesco Nori
Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms
published pages: 1591-1603, ISSN: 0929-5593, DOI: 10.1007/s10514-018-9808-4
Autonomous Robots 43/6 2019-12-02
2018 Ugurlu, B.; Ivaldi, S.
Public Simulation Software
published pages: , ISSN: , DOI:
Humanoid Robotics: A Reference – Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim VOL 35 2019-12-02
2018 Ajoudani, A.; Zanchettin, A.M.; Ivaldi, S.; Albu-Schaeffer, A.; Kosuge, K.; Khatib, O.
Progress and Prospects of the Human-Robot Collaboration
published pages: P 957-975, ISSN: 1573-7527, DOI:
Autonomous Robots Vol 42 2019-12-02
2018 Ivaldi, S
Intelligent Human-Robot Collaboration with Prediction and Anticipation
published pages: Pages 9-11, ISSN: 0926-4981, DOI:
ERCIM NEWS - Special theme: Human-Robot Vol 114 2019-12-02
2017 Dežman, Miha; Babič, Jan; Gams, Andrej
Qualitative assessment of a clutch-actuated ankle exoskeleton
published pages: pp. 720-737, 201, ISSN: , DOI:
Advances in service and industrial robotics : proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, [21-23 June 2017, Torino, Italy] 1 2019-12-02
2018 Otani, K.; Bouyarmane, K.; Ivaldi, S.
Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller
published pages: , ISSN: , DOI:
Proc. IEEE/RAS Int. Conf. Robotics and Automation (ICRA) 2019-12-02
2017 Dafarra, Stefano; Romano, Francesco; Nava, Gabriele; Nori, Francesco
A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping
published pages: , ISSN: , DOI:
http://arxiv.org/abs/1705.10635 15 2019-12-02
2018 Malaisé, A.; Maurice, P.; Colas F.; Ivaldi S.
Online Activity Recognition for Automatic Ergonomics Assessment
published pages: , ISSN: , DOI:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018, Nancy 2019-12-02
2018 Maurice, P.; Allienne, L.; Malaise, A.; Ivaldi, S.
Ethical and Social Considerations for the introduction of Human-Centered Technologies at Work
published pages: , ISSN: , DOI:
IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO) 2019-12-02
2018 Chaveroche, M.; Malaisé, A.; Colas, F.; Charpillet, F.; Ivaldi, S.
A Variational Time Series Feature Extractor for Action Prediction
published pages: , ISSN: , DOI:
arXiv:1807.02350 [cs.LG] 2019-12-02
2018 Charbonneau, M.; Modugno, V.; Nori, F.; Oriolo, G.; Pucci, D.; Ivaldi, S.
Learning robust task priorities of QP-based whole-body torque controllers
published pages: , ISSN: , DOI:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS) 2019-12-02
2019 Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci
Trajectory Advancement during Human-Robot Collaboration
published pages: , ISSN: , DOI:
IEEE RO-MAN 2019 2019-12-02
2018 Ivaldi, S.; M. Pateraki
Human-Robot Interaction - Introduction to the Special Theme
published pages: P 6-7, ISSN: 0926-4981, DOI:
ERCIM NEWS - Special theme: Human-Robot Vol 114 2019-12-02
2018 Dafarra, Stefano; Nava, Gabriele; Charbonneau, Marie; Guedelha, Nuno; Andrade, Francisco; Traversaro, Silvio; Fiorio, Luca; Romano, Francesco; Nori, Francesco; Metta, Giorgio; Pucci, Daniele
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
published pages: , ISSN: , DOI:
arxiv.org/abs/1807.05395 2019-12-02
2018 Pauline Maurice, Neville Hogan, Dagmar Sternad
Predictability, force, and (anti)resonance in complex object control
published pages: 765-780, ISSN: 0022-3077, DOI: 10.1152/jn.00918.2017
Journal of Neurophysiology 120/2 2019-12-02
2019 Adrien Malaise, Pauline Maurice, Francis Colas, Serena Ivaldi
Activity Recognition for Ergonomics Assessment of Industrial Tasks With Automatic Feature Selection
published pages: 1132-1139, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2894389
IEEE Robotics and Automation Letters 4/2 2019-12-02
2018 Chavez, Francisco Javier Andrade; Nava, Gabriele; Traversaro, Silvio; Nori, Francesco; Pucci, Daniele
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
published pages: , ISSN: , DOI:
http://arxiv.org/abs/1812.00650 2019-12-02
2017 Dafarra, Stefano; Romano, Francesco; Nori, Francesco
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot
published pages: , ISSN: , DOI:
http://arxiv.org/abs/1705.10638 2019-12-02
2019 Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques
published pages: 2794, ISSN: 1424-8220, DOI: 10.3390/s19122794
Sensors 19/12 2019-12-02
2019 Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babic, Jan; Pucci, Daniele
Telexistence and Teleoperation for Walking Humanoid Robots
published pages: , ISSN: , DOI:
http://arxiv.org/abs/1809.01578 2019-12-02
2018 Malaisé, A.; Maurice, P.; Colas, F.; Charpillet, F.; Ivaldi, S.
Activity recognition with multiple wearable sensors for industrial applications
published pages: , ISSN: , DOI:
Proc. 11th Int. Conf. on Advances in Computer-Human Interactions (ACHI) 2019-12-02
2018 Maurice, P.; Camernik, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J.
Objective and Subjective Effects of Passive Exoskeleton on Overhead Work
published pages: , ISSN: , DOI:
9th International Conference on Safety of Industrial Automated Systems – SIAS 2018 2019-12-02
2018 Dermy, O.; Chaveroche, M.; Colas, F.; Charpillet, F.; Ivaldi, S.
Prediction of Human Whole-Body Movements with AE-ProMPs
published pages: , ISSN: , DOI:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS 2018) 2019-12-02
2019 Dermy O., Charpillet F., Ivaldi S.
Multi-modal Intention Prediction with Probabilistic Movement Primitives
published pages: P 181-196, ISSN: , DOI:
Human Friendly Robotics. Springer Proceedings in Advanced Robotics Vol 7 2019-12-02
2019 Andrea Gigli, Arjan Gijsberts, Claudio Castellini
Natural Myocontrol in a Realistic Setting: a Comparison Between Static and Dynamic Data Acquisition
published pages: , ISSN: , DOI:
2019 IEEE/RAS-EMBS 16th International Conference on Rehabilitation Robotics 2019-12-02
2018 Gennaro Raiola, Susana Sanchez Restrepo, Pauline Chevalier, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, Freek Stulp
Co-manipulation with a library of virtual guiding fixtures
published pages: 1037-1051, ISSN: 0929-5593, DOI: 10.1007/s10514-017-9680-7
Autonomous Robots 42/5 2019-12-02
2018 Chatzilygeroudis, Konstantinos; Vassiliades, Vassilis; Stulp, Freek; Calinon, Sylvain; Mouret, Jean-Baptiste
A survey on policy search algorithms for learning robot controllers in a handful of trials
published pages: , ISSN: , DOI:
arXiv.org e-Print Archive 25 2019-12-02
2019 Olivier Sigaud, Freek Stulp
Policy search in continuous action domains: An overview
published pages: 28-40, ISSN: 0893-6080, DOI: 10.1016/j.neunet.2019.01.011
Neural Networks 113 2019-12-02
2018 Kaushik , Rituraj; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste
Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards
published pages: , ISSN: , DOI:
CoRL 2018 - Conference on Robot Learning, Oct 2018, Zurich, Switzerland 3 2019-12-02
2018 Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, Jean-Baptiste Mouret
Limbo: A Flexible High-performance Library for Gaussian Processes modeling and Data-Efficient Optimization
published pages: 545, ISSN: 2475-9066, DOI: 10.21105/joss.00545
Journal of Open Source Software 3/26 2019-12-02
2018 Pautrat, Rémi; Chatzilygeroudis, Konstantinos; Mouret, Jean-Baptiste
Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search
published pages: , ISSN: , DOI:
ICRA 2018 - International Conference on Robotics and Automation 4 2019-12-02
2018 Hoffman , Enrico ,; Clément , Brice; Zhou , Chengxu; Tsagarakis , Nikos ,; Mouret , Jean-Baptiste; Ivaldi , Serena
Whole-Body Compliant Control of iCub: first results with OpenSoT
published pages: , ISSN: , DOI:
ICRA 2018 - International Conference on Robotics and Automation 3 2019-12-02
2017 Ajoudani, Arash; Zanchettin, Andrea,; Ivaldi, Serena; Albu-Schäffer, Alin; Kosuge, Kazuhiro; Khatib, Oussama
Progress and Prospects of the Human-Robot Collaboration
published pages: , ISSN: 0929-5593, DOI:
Autonomous Robots 1 2019-12-02
2017 Dermy, O.; Charpillet, F.; Ivaldi, S.
Multi-modal intention prediction with Probabilistic Movement Primitives
published pages: , ISSN: , DOI:
Proc. 10th International Workshop on Human-Friendly Robotics (HFR 2017) 2019-12-02
2018 Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael Mistry, Vincent Padois, Francesco Nori
The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction
published pages: 516-523, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2768126
IEEE Robotics and Automation Letters 3/1 2019-12-02
2017 Nori, Francesco
Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations
published pages: , ISSN: , DOI:
2 2019-12-02
2017 Spitz, Jonathan; Bouyarmane, Karim; Ivaldi, Serena; Mouret, Jean-Baptiste
Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control
published pages: , ISSN: , DOI:
https://hal.archives-ouvertes.fr/hal-01569948 3 2019-12-02
2017 Otani, Kazuya; Bouyarmane, Karim
Adaptive Whole-Body Manipulation in Human-to-Humanoid Multi-Contact Motion Retargeting
published pages: , ISSN: , DOI:
2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) 1 2019-12-02
2017 Ivaldi, Serena; Fritzsche, Lars; Babič, Jan; Stulp, Freek; Damsgaard, Michael; Graimann, Bernhard; Bellusci, Giovanni; Nori, Francesco
Anticipatory models of human movements and dynamics: the roadmap of the AnDy project
published pages: , ISSN: , DOI:
Digital Human Models (DHM), Jun 2017, Bonn, Germany. 2017 1 2019-12-02
2018 Miha Dežman, Jan Babič, Andrej Gams
Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton
published pages: 778-786, ISSN: , DOI: 10.1007/978-3-319-61276-8_82
2019-12-02
2018 Otani, Kazuya; Bouyarmane, Karim; Ivaldi, Serena
Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller
published pages: , ISSN: , DOI:
Proceedings of International Conference on Robotics and Automation 1 2019-12-02
2017 Modugno, V.; Nava, G.; Pucci, D.; Nori, F.; Oriolo, G.; Ivaldi, S.
Safe trajectory optimization for whole-body motion of humanoids
published pages: , ISSN: , DOI:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS) 2019-12-02
2017 Oriane Dermy, Alexandros Paraschos, Marco Ewerton, Jan Peters, François Charpillet, Serena Ivaldi
Prediction of Intention during Interaction with iCub with Probabilistic Movement Primitives
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2017.00045
Frontiers in Robotics and AI 4 2019-12-02
2018 Pauline Maurice, Meghan E. Huber, Neville Hogan, Dagmar Sternad
Velocity-Curvature Patterns Limit Human–Robot Physical Interaction
published pages: 249-256, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2737048
IEEE Robotics and Automation Letters 3/1 2019-12-02
2017 Chatzilygeroudis, Konstantinos; Rama, Roberto; Kaushik, Rituraj; Goepp, Dorian; Vassiliades, Vassilis; Mouret, Jean-Baptiste
Black-Box Data-efficient Policy Search for Robotics
published pages: , ISSN: , DOI:
https://hal.inria.fr/hal-01576683 1 2019-12-02
2017 K. Otani, K. Bouyarmane, S. Ivaldi
Humanoid Control for Co-Manipulations Tasks with Whole-body Human Dynamics Reconstruction
published pages: , ISSN: , DOI:
\"Workshop \"\"Human-humanoid collaboration\"\" in HUMANOIDS 2017\" 2019-12-02
2017 Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B.
Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control
published pages: , ISSN: , DOI:
Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS) 2019-12-02

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