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HumaBiMan

Benchmarking Humanoid Locomotion and Standing Performances during Dynamic Autonomous Bi-Manipulation of Objects

  • Founder: EU Horizon2020 (FSTP EUROBENCH)
  • Start: 2021
  • End: 2023

Main researcher: C. Balaguer

TEO caja

Description

The technical purpose of this project is to benchmark existing and new adaptive whole-body controllers developed for the humanoid robot TEO1,2. The development of these controllers is based on different bioinspired techniques such as axes Fractional-PID controllers and dynamically adaptative LIRM, that need rich experimental data to be improved. The target scenarios of this proposal are i) the standing moving surface testbed (COMTEST) and ii) the standing during manipulation among shelfs testbed. They provide the appropriate environment to improve the general whole-body stability control algorithms and to benchmark the performance in different situations during standing manipulation.

Entries:
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs
Visual Approach Skill for a Mobile Robot using Learning and Fusion of Simple Skills
Robotics and Autonomous Systems. num. 3 , vol. 38 , pages: 157 – 170 , 2002
R. Barber M.A. Salichs
Navigation of Mobile Robots: Open Questions
Robotica. num. 3 , vol. 18 , pages: 227 – 234 , 2000
L. Moreno M.A. Salichs

Entries:
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
A Language For Sequence Specification For Sequencing Autonomous Robots Skills
World Automation Congress, 2004, Sevilla, Spain
M. Rivero R. Barber M.A. Salichs
A Voice Navigator in the AD Control Architecture for Autonomous Mobile Robots
World Automation Congress, 2004, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Patterns-Oriented Framework for the Development of Automatic and Deliberative Skills for Mobile Robots
IEEE International Conference on Advanced Robotics, Coimbra, Portugal
M. Rivero A.M. Khamis M.A. Salichs
Pattern-oriented implementation for automatic and deliberative skills of a mobile robot
International Workshop on Advances in Service Robotics, Bardolino, Italia
M. Rivero A.M. Khamis M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Visual Approach Skill for a Mobile Robot Using Learning and Fusion of Simple Skills
European Workshop on Learning Robots, Praga, Czech Rep
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
A Language For Sequence Specification For Sequencing Autonomous Robots Skills
World Automation Congress, 2004, Sevilla, Spain
M. Rivero R. Barber M.A. Salichs
A Voice Navigator in the AD Control Architecture for Autonomous Mobile Robots
World Automation Congress, 2004, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Patterns-Oriented Framework for the Development of Automatic and Deliberative Skills for Mobile Robots
IEEE International Conference on Advanced Robotics, Coimbra, Portugal
M. Rivero A.M. Khamis M.A. Salichs
Pattern-oriented implementation for automatic and deliberative skills of a mobile robot
International Workshop on Advances in Service Robotics, Bardolino, Italia
M. Rivero A.M. Khamis M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Visual Approach Skill for a Mobile Robot Using Learning and Fusion of Simple Skills
European Workshop on Learning Robots, Praga, Czech Rep
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
A Language For Sequence Specification For Sequencing Autonomous Robots Skills
World Automation Congress, 2004, Sevilla, Spain
M. Rivero R. Barber M.A. Salichs
A Voice Navigator in the AD Control Architecture for Autonomous Mobile Robots
World Automation Congress, 2004, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Patterns-Oriented Framework for the Development of Automatic and Deliberative Skills for Mobile Robots
IEEE International Conference on Advanced Robotics, Coimbra, Portugal
M. Rivero A.M. Khamis M.A. Salichs
Pattern-oriented implementation for automatic and deliberative skills of a mobile robot
International Workshop on Advances in Service Robotics, Bardolino, Italia
M. Rivero A.M. Khamis M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Visual Approach Skill for a Mobile Robot Using Learning and Fusion of Simple Skills
European Workshop on Learning Robots, Praga, Czech Rep
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs
Voronoi Diagram and Fast Marching applied to Path Planning
2006 IEEE International conference on Robotics and Automation. ICRA 2006, 2006, Orlando,Florida, USA
S. Garrido D. Blanco L. Moreno
Autonomous Monitoring And Reaction To Failures In A Topological Navigation System
2nd International Conference on Informatics in Control, Automation and Robotics, 2005, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
A Door Lintel Locator Sensor for Mobile Robot Topological Navigation
IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, 2005, Sofia, Bulgaria
V. Egido R. Barber M.A. Salichs
A Framework For Complex Skill Generation
The 5th IFAC Symposium on Intelligent Autonomous Vehicles. Lisboa, 2004, Lisboa, Portugal
M. Rivero R. Barber M.A. Salichs
A Planner For Topological Navigation Based On Previous Experiences
The 5th IFAC Symposium on Intelligent Autonomous Vehicles, 2004, Lisboa, Portugal
V. Egido R. Barber M.A. Salichs
A Language For Sequence Specification For Sequencing Autonomous Robots Skills
World Automation Congress, 2004, Sevilla, Spain
M. Rivero R. Barber M.A. Salichs
A Voice Navigator in the AD Control Architecture for Autonomous Mobile Robots
World Automation Congress, 2004, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
An Agent Based Framework For Sequencing Autonomous Robots Skills
The 8th Conference on Intelligent Autonomous Systems, 2004, Amsterdam, The Netherlands
M. Rivero R. Barber M.A. Salichs
Using learned visual landmarks for intelligent topological navigation of mobile robots
IEEE International Conference on Robotics and Automation, Taipei, Taiwan
M.A. Salichs
A control System Based on Reactive Skills for Autonomous Mobile Robots
The 11th International Conference on Advanced Robotics, 2003, Coimbra, Portugal
R. Barber M.A. Salichs
A Patterns-Oriented Framework for the Development of Automatic and Deliberative Skills for Mobile Robots
IEEE International Conference on Advanced Robotics, Coimbra, Portugal
M. Rivero A.M. Khamis M.A. Salichs
Pattern-oriented implementation for automatic and deliberative skills of a mobile robot
International Workshop on Advances in Service Robotics, Bardolino, Italia
M. Rivero A.M. Khamis M.A. Salichs
A Perception System based on Laser Information for Mobile Robot Topologic Navigation
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
R. Barber M.A. Salichs
Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot
IEEE Int. Conference on Industrial Electronics, Control and Instrumentation, 2002, Sevilla, Spain
V. Egido R. Barber M.A. Salichs
Corridor exploration in the EDN Navigation System
15th IFAC World Congress on Automatic Control, 2002, Barcelona, Spain
V. Egido R. Barber M.A. Salichs
Learning Visual Landmarks for Mobile Robot Navigation
15th IFAC World Congress on Automatic Control. Barcelona, Barcelona, Spain
M.A. Salichs
Self-Generation by a Mobile Robot of Topological Maps of Corridors
IEEE International Conference on Robotics and Automation, 2002, Washington, USA
V. Egido R. Barber M.A. Salichs
Skills´ Learning in an Autonomous Mobile Robot Using Continous Reinforcement
IFAC Workshop on Advanced Fuzzy-Neural Control, 2002, Valencia, Spain
M.A. Salichs
A new human based architecture for intelligent autonomous robots
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
R. Barber M.A. Salichs
Visual Tracking Skill Reinforcement Learning for a Mobile Robot
IFAC Symposium on Intelligent Autonomous Vehicles, 2002, Sapporo, Japan
M.A. Salichs
Visual Approach Skill for a Mobile Robot Using Learning and Fusion of Simple Skills
European Workshop on Learning Robots, Praga, Czech Rep
M.A. Salichs
Mobile Robot Navigation Based on Event Maps
3rd International Conference on Field and Service Robotics, 2001, Helsinki, Filand
R. Barber M.A. Salichs
Algorithm of Topological Map Generation for the EDN Navigation System
IFAC Workshop on Mobile Robot Technology, 2001, Jejudo Island, Korea
V. Egido R. Barber M.A. Salichs
A Visual Landmark Recognition System for Topological Navigation of Mobile Robots
IEEE International Conference on Robotics and Automation, 2001, Seoul, Korea
M.A. Salichs
Navigation of Mobile Robots: Learning from Human Beings
Plenary Session. IFAC Workshop on Mobile Robot Tecnology, Jejudo Island, Korea
M.A. Salichs

Entries:
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs
Machine Learning and Robot Perception
chapter: Continuous Reinforcement Learning Algorithm for Skills Learning in an Autonomous Mobile Robot pages: 137 – 165. Springer , ISBN: 978-3-540-26549, 2005
V. Egido R. Barber M.A. Salichs

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