Publications


Publications of the ROSETTA project by category: Press releases | Scientific publications | Workshops | Dissertations and theses




Press releases

ABB Sweden Aug 26, 2009 (in Swedish)

ABB Germany Aug 26, 2009 (in German)

Lund University Sep 3, 2009 (in Swedish)

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Scientific publications

2009

M. Linderoth, A. Robertsson, K. Åström, R. Johansson, “Vision Based Tracker for Dart Catching Robot”, Preprints 9th International Symposium on Robot Control (SYROCO'09), The International Federation of Automatic Control, Gifu, Japan, September 9-12, 2009, pp. 883-888

2010

M. Linderoth, A. Roboertsson, K. Åström, R. Johansson, “Object Tracking with Measurements from Single or Multiple Cameras”, In proceedings of IEEE International Conference on Robotics and Automation 2010, 3-8 May 2010, Anchorage, Alaska

P. Rocco, A. M. Zanchettin, “General Parameterization of Holonomic Kinematic Inversion Algorithms for Redundant Manipulators”, In proceedings of IEEE International Conference on Robotics and Automation 2010, 3-8 May 2010, Anchorage, Alaska

B. Matthias, S. Oberer-Treitz, H. Staab, E. Schuller, S. Peldschus, “Injury Risk Quantification for Industrial Robots in Collaborative Operation with Humans”, In proceedings of International Symposium on Robotics 2010, 7-9 June 2010, Munich, Germany

J. Persson, A. Gallois, A. Björkelund, L. Hafdell, M. Haaeg, J. Malec, K. Nilsson, P. Nugues, “A Knowledge Integration Framework for Robotics”. In proceedings of International Symposium on Robotics 2010, 7-9 June 2010, Munich, Germany

M. Naumann, M. Bengel, A. Verl , “Automatic Generation of Robot Applications using a Knowledge Integration Framework”, In proceedings of International Symposium on Robotics 2010, 7-9 June 2010, Munich, Germany

A. M. Zanchettin, P. Rocco, I. Symeonidis, S. Peldschus, “Kinematic Motion Analysis of the Human Arm During a Manipulation Task”, In proceedings of International Symposium on Robotics 2010, 7-9 June 2010, Munich, Germany

S. Oberer-Treitz, A. Puzik, A. Verl , “Measuring the Collision Potential of Industrial Robots”, International Symposium on Robotics 2010, 7-9 June 2010, Munich, Germany

L. Bascetta, R. Migliorini, M. Pelagatti, P. Rocco, “Anti-collision systems for Robotic Applications based on Laser Time-of-Flight Sensors”, In proceedings of Advanced Intelligent Mechatronics (AIM 2010), July 2010, Montreal, Canada

A. Björkelund, B. Bohnet, L. Hafdell, P. Nugues, “A High-Performance Syntactic and Semantic Dependency Parser”, In proceedings of The 23rd International Conference on Computational Linguistics (COLING 2010), August 23-27, Beijing, China

P. Nilsson, P. Nugues, “Automatic Discovery of Feature Sets for Dependency Parsing”, In proceedings of The 23rd International Conference on Computational Linguistics (COLING 2010), August 23-27, Beijing, China

A.M. Zanchettin, P. Rocco, G. Ferretti, “Numerical issues in integrating holonomic kinematic inversion algorithms for redundant manipulators”, In proceedings of IFAC Int. Symposium on Nonlinear Control Systems – NOLCOS 2010 - Bologna (Italy) September 1-3 2010

B. Lacevic, P. Rocco, “Sampling-based safe path planning for robotic manipulators”, In proceedings of IEEE Int. Conference on Emerging Technologies and Factory Automation - ETFA 2010 - Bilbao (Spain) September 13-16 2010

B. Lacevic, P. Rocco, “Kinetostatic Danger Field - a Novel Safety Assessment for Human-Robot Interaction", 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, October 18-22

B. Lacevic, P. Rocco, “Towards a Complete Safe Path Planning for Robotic Manipulators”, in proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, October 18-22

M. Bengel, M. Naumann, A. Verl, ”Intergrierter Ansatz zur automatischen Codegenerierung für Roboterprogramme”. In: Bender, Klaus, et al. (Eds): Mesago: SPS/IPC/DRIVES 2010 : Tagungsband. Elektrische Automatisierung - Systeme und Komponenten. Fachmesse & Kongress, 23.-25. Nov. 2010, Nürnberg. Berlin; Offenbach : VDE-Verlag, 2010, S. 35-43 (in German)

A. Locatelli, P. Rocco, N. Schiavoni, A.M. Zanchettin,“Ripetibilità dei movimenti nei manipolatori robotici a ridondanza cinematica”, 53° Convegno Nazionale ANIPLA, Motion Control 2010, Cinisello Balsamo, Italy (in Italian)

L. Bascetta, G. Ferretti, B. Lacevic, G. Magnani, P. Rocco, and A.M. Zanchettin, “Robotica industriale umano-centrica: il progetto ROSETTA”, 53° Convegno Nazionale ANIPLA, Motion Control 2010 (in Italian)

P. Rocco and A.M. Zanchettin, “General parameterization of holonomic kinematic inversion algorithms for redundant manipulators”, IEEE Int’l Conf. on Robotics and Automation - ICRA 2010, Anchorage, US, 2010, pp. 3721-3726.

2011

B. Matthias, S. Kock, H. Jerregard, M. Källman, I. Lundberg, R. Mellander, “Safety of Collaborative Industrial Robots – Certification possibilities for a collaborative assembly robot concept”. International Symposium on Assembly and Manufacturing (ISAM 2011), 25-27 May 2011, Tampere, Finland

M. Hedelind, S. Kock, “Requirements on Flexible Robot Systems for Small Parts Assembly – A Case Study”, in proceedings of International Symposium on Assembly and Manufacturing, 25-27 May, Tampere, Finland, 2011

S. Kock, T. Vittor, B. Matthais, H. Jerregard, M. Källman, I. Lundberg, R. Mellander, M. Hedelind, “Robot Concept for Scalable, Flexible Assembly Automation”, in proceedings of International Symposium on Assembly and Manufacturing, 25-27 May, Tampere, Finland, 2011

A. Björkelund, L. Edström, M. Haage, J. Malec, K. Nilsson, P. Nugues, S. Gestegård Robertz, D. Störkle, A. Blomdell, R. Johansson, A. Linderoth, A. Nilsson, A. Robertsson, A. Stolt, H. Bruyninckx, “On the Integration of Skilled Robot Motions for Productivity in Manufacturing”, In Proceedings of IEEE International Symposium on Assembly and Manufacturing, Tampere, Finland, 25-27 May, 2011

A.M. Zanchettin, O. Rocco, A. Robertsson, R. Johansson, “Exploiting task redundancy in industrial manipulators during drilling operations”, In proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

A. Stolt, M. Lunderoth, A. Robertsson, R. Johansson, ”Force Controlled Assembly of Emergency Stop Button”, In proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

M. Linderoth, K. Soltesz, A. Robertsson, R. Johansson, “Initialization of the Kalman Filter without Assumptions on the Initial State”, In proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

A.M. Zanchettin, P. Rocco, L. Bascetta, I. Symenidis, S. Peldschus, “Kinematic analysis and synthesis of the human arm motion during a manipulation task”, In proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

A. Björkelund, J. Malec, K. Nilsson, P. Nugues, “Knowledge and Skill Representations for Robotized Production”, In Proceedings of 18th IFAC Congress, Milano, Italy, August 28 - September 2, 2011.

A.M. Zanchettin, P. Rocco, “On the use of functional redundancy in industrial manipulators for optimal spray painting”, In Proceedings of 18th IFAC Congress, Milano, Italy, August 28 - September 2, 2011.

B. Lacevic, P. Rocco, “Safety-oriented Contol of Robotic Manupulators – A Kinematic Approach”, In Proceedings of 18th IFAC Congress, Milano, Italy, August 28 - September 2, 2011.

S. Oberer-Treitz, A. Puzik, A. Verl, “Sicherheitsbewertung der Mensch-Roboter-Kooperation: Unter Berücksichtigung des Gefährdungspotentials eines spezifischen Robotersystems” In: wt Werkstattstechnik online. 101 (2011), Nr. 9, S. 629-632.

B. Lacevic, P. Rocco, and M. Strandberg, "Safe motion planning for articulated robots using RRTs“, XXIII International Symposium on Information, Communication and Automation Technologies, Sarajevo, October 27-29, 2011

L. Bascetta, G. Ferretti, P. Rocco, H. Ardö, H. Bruyininckx, E. Demeester and E. Di Lello, "Towards safe human-robot interaction in robotic cells: an approach based on visual tracking and intention estimation", RSJ/IEEE International Conference on Intelligent and Robotic Systems (IROS 2011).

L. Bascetta, G. Ferretti, A. Locatelli, and P. Rocco, "Generation of human walking paths: an optimal control approach", Annual Conference of Italian Researchers in Systems and Control (Automatica.it 2011).

2012

A.M. Zanchettin and P. Rocco, “A general user-oriented framework for holonomic redundancy resolution in robotic manipulators using task augmentation”, IEEE Transactions on Robotics, Vol. 28, No. 2, pp. 514-521, April 2012

A.M. Zanchettin and P. Rocco, “Dual-arm redundancy resolution based on null-space dynamically-scaled posture optimization”, IEEE International Conference on Robotics and Automation, 14-18 May, St. Paul, MN, USA

A. Stolt, M. Linderoth, A. Robertsson, R. Johansson , “Force Controlled Robotic Assembly without a Force Sensor”, IEEE International Conference on Robotics and Automation, 14-18 May, St. Paul, MN, USA - Best paper Award!

P. Exner, P. Nugues, “Constructing Large Proposition Databases”, The eighth international conference on Language Resources and Evaluation (LREC), 21-27 May, Istanbul, Turkey

J. Fryman, B. Matthias"Safety of Industrial Robots: From Conventional to Collaborative Applications", Robotik 2012, 7th German Conference on Robotics, Münich, Germany, 21-22 May, 2012

R. Patel, M. Hedelind, P. Lozan-Villegas"Enabling robots in small-part assembly lines: the "ROSETTA approach" - an industrial perspective", Robotik 2012, 7th German Conference on Robotics, Münich, Germany, 21-22 May, 2012

F. Nägele, M. Naumann, A. Verl "A Framework for a Fault Tolerant and Learning Robotic Assembly System", Robotik 2012, 7th German Conference on Robotics, Münich, Germany, 21-22 May, 2012

T. De Laet, S. Bellens, R. Smits, E. Aertbelien, H. Bruyninckx, and J. De Schutter, "Geometric Relations between Rigid Bodies: Semantics for Standardization", to appear in IEEE Robotics and Automation Magazine
(scheduled to appear in the December issue), 2012

A. Barcellini, L. Bascetta, M. Raymo, P. Rocco, A. M. Zanchettin, A. Robertsson, "Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller", IFAC Symposium on Robot Control (SYROCO 2012)

P. Exner and P. Nugues. Using semantic role labeling to extract events from Wikipedia. In Proceedings of the Workshop on Detection, Representation, and Exploitation of Events in the Semantic Web (DeRiVE 2011). Workshop in conjunction with the 10th International Semantic Web Conference 2011 (ISWC 2011) , Bonn, October 2011.

A. Björkelund, J. Malec, K. Nilsson, P. Nugues, H. Bruyninckx. Knowledge for Intelligent Industrial Robots, Proc. AAAI 2012 Spring Symp. On Designing Intelligent Robots, Stanford Univ., March 2012.

Peter Exner and Pierre Nugues. Entity extraction: From unstructured text to DBpedia RDF triples. In Proceedings of the Web of Linked Entities Workshop (WoLE 2012), Boston, November 11 2012

Marcus Stamborg and Pierre Nugues. Statistical identification of pleonastic pronouns. In Proceedings of SLTC 2012, The Fourth Swedish Language Technology Conference, Lund, October, 24-26 2012.

Marcus Stamborg, Dennis Medved, Peter Exner, and Pierre Nugues. Using syntactic dependencies to solve coreferences. In Joint Conference on EMNLP and CoNLL – Shared Task, pages 64–70, Jeju Island, Korea, July 2012.

Peter Exner and Pierre Nugues. Constructing large proposition databases. In Proceedings of the eighth international conference on Language Resources and Evaluation (LREC 2012), pages 3836-3840, Istanbul, May 23-25 2012.

Klas Nilsson, Elin Anna Topp, Jacek Malec, Il Hong Suh: Enabling Reuse of Robot Tasks and Capabilities by Business-related Skills Grounded in Natural Language, ICAS 2013, Lisbon, March 2013

Jacek Malec, Pierre Nugues, Towards Declarative Semantic Description of Injury Data, IROS 2012 Workshop on Safety

Jacek Malec, Klas Nilsson, Herman Bruyninckx, Describing assembly tasks in declarative way, submitted to the IEEE International Conference on Robotics and Automation 2013 Workshop on Semantics, Identification and Control of Robot-Human-Environment Interaction. (accepted)
De Laet, Tinne; Bellens, Steven; Smits, Ruben; Aertbeliën, Erwin; Bruyninckx, Herman; and De Schutter, Joris, Geometric Relations between Rigid Bodies (Part 1): Semantics for Standardization. IEEE Robotics & Automation Magazine, 20(1):84-93, 2013.

De Laet, Tinne; Bellens, Steven; Bruyninckx, Herman; and De Schutter, Joris Geometric Relations between Rigid Bodies (Part 2): from Semantics to Software
IEEE Robotics & Automation Magazine, accepted for publication, 2013.

Domain Specific Language for Geometric Relations between Rigid Bodies targeted to robotic applications De Laet, Tinne; Schaekers, Wouter; de Greef, Jonas; and Bruyninckx, Herman, 3rd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob-12),2012

Klotzbuecher, Markus and Bruyninckx, Herman A Lightweight, Composable Metamodelling Language for Specification and Validation of Internal Domain Specific Languages Proceedings of the 8th International Workshop on Model-based Methodologies for Pervasive and Embedded Software 2012

Coordinating Robotic Tasks and Systems with rFSM Statecharts, Markus Klotzbuecher and Herman Bruyninckx, Journal of Software Engineering for Robotics 3(1):28-56, 2012

Hierarchical Dirichlet Process Hidden Markov Models for abnormality detection in robotic assembly Di Lello, Enrico; De Laet, Tinne; and Bruyninckx, Herman,
Neural Information Processing Systems, 2012

B. Lacevic, P. Rocco, Safety-Oriented Path Planning for Articulated Robots, Robotica (accepted for publication)

M. Linderoth, A. Robertsson, R. Johansson, Color-Based Detection Robust to Varying Illumination Spectrum, Proc. IEEE Workshop on Robot Vision (WoRV2013), January 16-17, 2013, Clearwater, FL, USA

A. Stolt, M. Linderoth, A. Robertsson, R. Johansson. Force Controlled Robotic Assembly without a Force Sensor, Proc. 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Saint Paul, MN, May 14-18, 2012, pp.1538-1543. Best Automation Paper Award.

A. Stolt, M. Linderoth, A. Robertsson, R. Johansson. Adaptation of Force Control Parameters in Robotic Assembly, Proc. 10th Int. IFAC Symposium on Robot Control (SYROCO 2012), Sep. 5-7 2012, Dubrovnik, Croatia, pp. 561-566.

A. Stolt, M. Linderoth, A. Robertsson, R. Johansson. Robotic Assembly Using a Singularity-Free Orientation Representation Based on Quaternions. Proc. 10th Int. IFAC Symposium on Robot Control (SYROCO 2012), Dubrovnik, Croatia, Sep 5-7 2012, pp. 549-554.

A. Stolt, M. Linderoth, Anders Robertsson, Rolf Johansson, “Improved Force Estimation for Robotic Dual-Arm Assembly” (submitted to IROS 2013)
Fryman, J., Matthias, B. Safety of Industrial Robots: From Conventional to Collaborative Applications. Robotik 2012, 7th German Conference on Robotics, Munich, Germany, 21-22 May, 2012

Matthias, B., Fryman, J. Safety of Industrial Robots: From Conventional to Collaborative Applications. International Conference on the Safety of Industrial Automated Systems (SIAS), Montreal, Canada, October, 2012.

Oberer-Treitz, S. Industrial Robot Standardisation. Workshop presentation in: Safety in Human-Robot Coexistence & Interaction: How Can Standardization and Research benefit from each other?. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012 - Workshops and Tutorials; Vilamoura, Portugal, 7th-12th of October 2012. Piscataway, NJ, 2012.

Matthias, B., Oberer-Treitz, S., Ding, H. Collision Testing for Human-Robot Collaboration. Poster presentation in: Safety in Human-Robot Coexistence & Interaction: How Can Standardization and Research benefit from each other?. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2012 - Workshops and Tutorials; Vilamoura, Portugal, 7th-12th of October 2012. Piscataway, NJ, 2012.

Asgharpour, Z., Baumgartner, D., Willinger, R., Schuller, E., Graw, M., Peldschus, S. The validation and Application of a Finite Element Human Head Model for Frontal Skull Fracture Analysis. In: Journal of the Mechanical Behavior of Biomedical Materials. (Accepted)

A. Barcellini, L. Bascetta, M. Raymo, P. Rocco, A. M. Zanchettin, A. Robertsson, “Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller”, IFAC SYROCO 2012

A. M. Zanchettin, B. Lacevic, P. Rocco, “A novel passivity-based control law for safe physical human-robot interaction”, RSJ/IEEE IROS 2012

A. M. Zanchettin, B. Lacevic, “Sensor-based Trajectory Generation for Safe Human-robot Cooperation”, RSJ/IEEE IROS 2012, Workshop on Robot Motion Planning: Online, Reactive, and in Real-Time

A. M. Zanchettin, P. Rocco, “Human-centric behaviour of redundant manipulators for ergonomic human-robot coexistence”, 5th Workshop on Human-Friendly Robotics

N.M. Ceriani, G. Buizza Avanzini, A. M. Zanchettin, L. Bascetta, P. Rocco, “Optimal placement of spots in distributed proximity sensors for safe human-robot interaction”, IEEE ICRA 2013

A. M. Zanchettin, L. Bascetta, P. Rocco, “Improving acceptability of anthropomorphic robotic manipulators in shared working environments through human-like redundancy resolution”, Applied ergonomics (accepted)

A. M. Zanchettin, L. Bascetta, P. Rocco, “Human-like redundancy resolution for anthropomorphic industrial manipulators”, IEEE Robotics and Automation Magazine, conditionally accepted

B. Lacevic, P. Rocco, A.M. Zanchettin, “Kinetostatic danger field - a novel safety assessment for human-robot interaction”, IEEE Transactions on Robotics (second review round)

A. M. Zanchettin, B. Lacevic, P. Rocco, “Passivity-based control of robotic manipulators for safe physical cooperation with humans”, Automatica (third review round)

G. Buizza Avanzini, N. M. Ceriani, A. M. Zanchettin, P. Rocco, L. Bascetta, “Safety control of industrial robots based on a distributed distance sensor”, IEEE/ASME Transactions on Mechatronics (submitted).

A. M. Zanchettin, P. Rocco, “Path-consistent safety in mixed human-robot collaborative manufacturing environments”, RSJ/IEEE IROS 2013

N. M. Ceriani et al., “A constraint-based skill state machine for task-consistent safe human-robot interaction”, RSJ/IEEE IROS 2013

E. Giovannitti, N. M. Ceriani, A. M. Zanchettin, P. Rocco, “Human arm motion synthesis: data-driven and biomechanics-based approaches”, ICRA 2013 Workshop on Computational Techniques in Natural Motion Analysis and Reconstruction

R. Patel, M. Hedelind, P. Lozan-Villegas: "Enabling robots in small-part assembly lines: the "ROSETTA approach" - an industrial perspective", Robotik 2012, 7th German Conference on Robotics, Münich, Germany, 21-22 May, 2012

M. Hedelind, R. Patel: "Industrial Robots in Small Part Assembly Lines; Challenges and Opportunities”, ISR 2012, 43rd International Symposium on Robotics, Taipei, Taiwan, 29-31 August, 2012

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Workshops, public presentations, etc.

2010

A. Björkelund, L. Hafdell, “Knowledge Representation in Knowledge Integration Framework”, presentation at the EURON Knowledge Representation Workshop, Donostia, March 12, 2010. Published online at http://www.robotics-platform.eu/cms/index.php?idcat=19&idart=259.

ICRA 2010 Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications—How to Modify and Enhance Commercial Controllers, 2010 IEEE Int. Conf. Robotics and Automation (ICRA2010), Anchorage, Alaska, May 3, 2010

Rolf Johansson, ROSETTA Project Presentation. ICRA2010 Workshop on European Effort to Strengthen Academia-Industry Collaboration, Anchorage, Alaska. 3 May 3, 2010.

Jacek Malec, Lund University, organized a workshop on Knowledge Representation in Robotics during the EURON/EUROP annual meeting in Donostia/San Sebastian in March 2010, during which the ROSETTA approach to knowledge representation has been presented and discussed.

Björn Matthias DEABB gave a ROSETTA presentation at Automatica Forum 2010 and at the Annual Meeting of the GMA Topical Working Group on Control of Robots.

Paolo Rocco POLIMI gave a presentation entitled "Robotica umano-centrica: il progetto ROSETTA" ("Human-centric robotics: the ROSETTA project") at the ANIPLA Motion Control 2010 National Conference. (In Italian)

2011

D. Vanthienen, T. De Laet, W. Decre, R. Smits, M. Klotzbucher, K. Buys, S. Bellens, L. Gherardi, H. Bruyninckx and J. De Shutte, “iTaSC as a unified framework for task specification, control, and coordination, demonstrated on the PR2”, IROS 2011: The PR2 Workshop Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform

S. Breisch, “Ein Roboterkonzept für skalierbare, flexible Automatisierung von Montageaufgaben in gemischten Mensch-Roboter-Arbeitsumgebungen”. Presentation at workshop für OTS-Systeme in der Robotik, 2011-05-27

S. Peldschus, “Verletzungsmechanische Aspekte für die Sicherheitsbewertung”.
Presentation at Fraunhofer IPA Workshop: 6. Workshop für OTS-Systeme in der Robotik, 2011-05-27

Workshop on Knowledge Engineering at European Robotics Forum, 6-8 April 2011

Workshop on Cognitive Video Supervision at European Robotics Forum, 6-8 April 2011. Link to presentations | Link to photos

Workshop on Orocos at European Robotics Forum, 6-8 April 2011. Link to results

B. Lacevic and P. Rocco, "Safety-Oriented Planning and Control Using Danger Field", 4 th Workshop on Human-Friendly Robotics (HFR 2011)

P. Rocco, "Human-centric industrial robotics", Invited talk at IIT (Genova,Italy)

2012

S. Oberer-Treitz, “New Safety Paradigm in Human-Robot-Cooperation” Workshop presentation in: “Safe Human Robot Interaction with Industrial and Service Robots” at European Robotics Forum 2012, Odense, 06.03.2012.

P. Rocco, “Active Control of Safety: the ROSETTA Approach “ Workshop presentation in: “Safe Human Robot Interaction with Industrial and Service Robots” at European Robotics Forum 2012, Odense, 06.03.2012.

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Dissertations and theses

B. Lacevic, “Safe motion planning and control for robotic manipulators”, PhD Thesis, 2011, Politecnico di Milano

A.M. Zanchettin, "Human-centric behaviour of redundant manipulators under kinematic control", PhD Thesis, 2012, Politecnico di Milano

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