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Investigating real world issues in human robot interaction: Physical and cognitive solutions for a safe robotic system
Presentation / Conference
Giannaccini, M. E., Sobhani, M. M., Dogramadzi, S., & Harper, C. J. Investigating real world issues in human robot interaction: Physical and cognitive solutions for a safe robotic system. Paper presented at IEEE ICRA2013

In service robotics, safety is of primary importance. In the EU funded INTRO project1 , safety has been considered from the perspectives of both ‘cognitive’ and physical HumanRobot Interaction (cogHRI and pHRI for brevity). INTRO project researchers... Read More about Investigating real world issues in human robot interaction: Physical and cognitive solutions for a safe robotic system.

Independent force and position control for cooperating manipulators handling an unknown object interacting with an unknown environment
Presentation / Conference
Jafari, A., & Ryu, J. Independent force and position control for cooperating manipulators handling an unknown object interacting with an unknown environment. Paper presented at 44th International Symposium on Robotics (ISR) 2013

In this paper, we consider two manipulators grasping a rigid object in contact with a deformable working surface, whose real physical parameters are unknown. Dynamics of the closed chain mechanism is expressed based on the objects center of mass, and... Read More about Independent force and position control for cooperating manipulators handling an unknown object interacting with an unknown environment.

An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments
Presentation / Conference
Jafari, A., Ryu, J., Rezaei, M., Monfaredi, R., Talebi, A., & Ghidary, S. An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments. Paper presented at IEEE ISR 2013

In the present paper, the objective of hybrid control is specified and an adaptive hybrid force/motion control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces. An... Read More about An adaptive hybrid force/motion control design for robot manipulators interacting in constrained motion with unknown non-rigid environments.

Multi degree-of-freedom input-to- state stable approach for stable haptic interaction
Presentation / Conference
Jafari, A., Nabeel, M., & Ryu, J. Multi degree-of-freedom input-to- state stable approach for stable haptic interaction. Paper presented at IEEE World Haptics Conference (WHC 2015), Chicago

Passivity has been the most often used constraint for the controller design of haptic interfaces. However, the designed controller based on passivity constraint has been suffering from its conservatism, especially when the user wants to increase the... Read More about Multi degree-of-freedom input-to- state stable approach for stable haptic interaction.

Data acquisition towards defining a multimodal interaction model for human-assistive robot communication
Presentation / Conference
Fotinea, S., Efthimiou, E., Dimou, A., Goulas, T., Karioris, P., Peer, A., …Stanzyk, B. Data acquisition towards defining a multimodal interaction model for human-assistive robot communication. Paper presented at Universal Access in Human/Computer Interaction. Aging and Assistive Environments, UAHCI/HCII

We report on the procedures followed in order to acquire a multimodal sensory corpus that will become the primary source of data retrieval, data analysis and testing of mobility assistive robot prototypes in the European project MOBOT. Analysis of th... Read More about Data acquisition towards defining a multimodal interaction model for human-assistive robot communication.

Implementation of an IR approach for autonomous docking in a self-configurable robotics system
Presentation / Conference
Liu, W., & Winfield, A. F. Implementation of an IR approach for autonomous docking in a self-configurable robotics system. Paper presented at Proceedings of Towards Autonomous Robotic Systems

This paper presents an IR approach to the development of a sensor system which enables robots to autonomously dock with each other to form complex morphologies. The system includes three sub-units with different operational ranges: a short range pro... Read More about Implementation of an IR approach for autonomous docking in a self-configurable robotics system.

Evaluating description and reference strategies in a cooperative human-robot dialogue system
Presentation / Conference
Foster, M. E., Giuliani, M., Isard, A., Matheson, C., Oberlander, J., & Knoll, A. Evaluating description and reference strategies in a cooperative human-robot dialogue system. Paper presented at Twenty-first International Joint Conference on Artificial Intelligence (IJCAI-09), 11-17 July 2009

We present a human-robot dialogue system that enables a robot to work together with a human user to build wooden construction toys. We then describe a study which assessed the responses of na¨ıve users to output that varied along two dimensions: the... Read More about Evaluating description and reference strategies in a cooperative human-robot dialogue system.

Investigation of CAI combustion with positive valve overlap and enlargement of CAI operating range
Presentation / Conference
Yang, C., Zhao, H., & Megaritis, T. Investigation of CAI combustion with positive valve overlap and enlargement of CAI operating range. Paper presented at SAE Technical Papers

Controlled Auto-Ignition (CAI) combustion was investigated in a Ricardo E6 single cylinder, four-stroke gasoline engine. CAI combustion was achieved by employing positive valve overlap in combination with variable compression ratios and intake air te... Read More about Investigation of CAI combustion with positive valve overlap and enlargement of CAI operating range.