Juan M. Gandarias — accepted AI-conference papers

2024

A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER)

Andrea Fortuna, Marta Lorenzini, Mattia Leonori, Juan M. Gandarias, Pietro Balatti, Younggeol Cho +2

ICRA 2024poster

Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide sufficient support to users’ stability or too bulky and poorly maneuverable to be used outside hospital environments. In a…

Cited by 3 Source ↗Scholar ↗

2024

Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Pietro Balatti, Idil Ozdamar, Doganay Sirintuna, Luca Fortini, Mattia Leonori, Juan M. Gandarias +1

ICRA 2024poster

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupli…

Cited by 6 Source ↗Scholar ↗

2022

A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks With Mobile Manipulators

Jianzhuang Zhao, Alberto Giammarino, Edoardo Lamon, Juan M. Gandarias, Elena De Momi, Arash Ajoudani

RA-L 2022

This letter proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human demonstrations and Gaussian Mixture Model (GMM)/Gaussian Mixtu

Cited by 37 Source ↗Scholar ↗

2022

A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration

Yasuhiro X. Kato, Pietro Balatti, Juan M. Gandarias, Mattia Leonori, Toshiaki Tsuji, Arash Ajoudani

RA-L 2022

This letter presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the robot's trajectory based on the haptic interaction with the envir

Cited by 7 Source ↗Scholar ↗

2022

Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface

Juan M. Gandarias, Pietro Balatti, Edoardo Lamon, Marta Lorenzini, Arash Ajoudani

ICRA 2022poster

This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically coupled to a mobile manipulator to be assisted in performin…

Cited by 7 Source ↗Scholar ↗

2022

Improving Standing Balance Performance through the Assistance of a Mobile Collaborative Robot

Francisco J. Ruiz-Ruiz, Alberto Giammarino, Marta Lorenzini, Juan M. Gandarias, Jesús H. Gómez-De-Gabriel, Arash Ajoudani

ICRA 2022poster

This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkin-son's. In particular, we propose using a mobile collaborative robot with an interaction-assistive whole-body interface to help…

Cited by 13 Source ↗Scholar ↗

2022

MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant Exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control

Mattia Leonori, Juan M. Gandarias, Arash Ajoudani

RA-L 2022

Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although a large body of literature has focused on safety-related aspects for fixed-based cobots, a low effort has been put into

Cited by 12 Source ↗Scholar ↗

2021

Bayesian and Neural Inference on LSTM-Based Object Recognition From Tactile and Kinesthetic Information

Francisco Pastor, Jorge García-González, Juan M. Gandarias, Daniel Medina, Pau Closas, Alfonso J. García-Cerezo +1

RA-L 2021

Recent advances in the field of intelligent robotic manipulation pursue providing robotic hands with touch sensitivity. Haptic perception encompasses the sensing modalities encountered in the sense of touch (e.g., tactile and kinesthetic sensations). This letter focuses on multimodal object recognit

Cited by 46 Source ↗code ↗Scholar ↗

2020

Open-Loop Position Control in Collaborative, Modular Variable-Stiffness-Link (VSL) Robots

Juan M. Gandarias, Yongjing Wang, Agostino Stilli, Alfonso J. García-Cerezo, Jesús M. Gómez de Gabriel, Helge A. Wurdemann

RA-L 2020

Collaborative robots open up new avenues in the field of industrial robotics and physical Human-Robot Interaction (pHRI) as they are suitable to work in close approximation with humans. The integration and control of variable stiffness elements allow inherently safe interaction: Apart from notable w

Cited by 37 Source ↗Scholar ↗

2019

Underactuated Gripper with Forearm Roll Estimation for Human Limbs Manipulation in Rescue Robotics

Juan M. Gandarias, Francisco Pastor, Antonio J. Muñoz-Ramírez, Alfonso J. García-Cerezo, Jesús M. Gómez-de-Gabriel

IROS 2019poster

The emergence of new robotic technologies such as compliant control and soft robotics, has contributed to safe physical Human-Robot Interaction (pHRI) mainly for assistive applications. However, a robot capable of directly manipulating the human body, which is key for the implementation of autonomou…

Cited by 24 Source ↗Scholar ↗

2018

Methods for Autonomous Wristband Placement with a Search-and-Rescue Aerial Manipulator

Jesús M. Gómez-de-Gabriel, Juan M. Gandarias, Francisco J. Pérez-Maldonado, Francisco J. García-Núñcz, Emilio J. Fernández-García, Alfonso J. García-Cerezo

IROS 2018poster

A new robotic system for Search And Rescue (SAR) operations based on the automatic wristband placement on the victims' arm, which may provide identification, beaconing and remote sensor readings for continuous health monitoring. This paper focuses on the development of the automatic target localizat…

Cited by 37 Source ↗Scholar ↗