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Máximo A. Roa

32 accepted papers

2026

Calibration of Error Distributions in Robot Kinematics for Increased Precision in Manipulation Tasks

Tim Gerstewitz, Peter Lehner, Lukas Burkhard, Natalija Topalovic, Alin Albu-Schäffer, Daniel Leidner +1
RA-L 2026

The accuracy of robotic forward kinematics is commonly improved by calibration. However, most calibration methods only take deterministic errors, such as inaccurate geometry and unknown stiffnesses, into account and neglect errors with stochastic characteristics, including joint friction, gear backl

Cited by 0Source ↗Scholar ↗
2025

CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization

Yifei Dong, Shaohang Han, Xianyi Cheng, Werner Friedl, Rafael I. Cabral Muchacho, Máximo A. Roa +2
IROS 2025

Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging helps mitigate these uncertainties by constraining an object’s mobility without requiring precise contact modeling. Existing caging research often treats morphology and policy opt

Cited by 9Source ↗Scholar ↗
2024

Bayesian Optimization for Robust Robotic Grasping Using a Sensorized Compliant Hand

Juan G. Lechuz-Sierra, Ana Elvira H. Martin, Ashok M. Sundaram, Ruben Martinez-Cantin, Máximo A. Roa
RA-L 2024

One of the first tasks we learn as children is to grasp objects based on our tactile perception. Incorporating such skill in robots will enable multiple applications, such as increasing flexibility in industrial processes or providing assistance to people with physical disabilities. However, the dif

Cited by 4Source ↗Scholar ↗
2023

CollisionGP: Gaussian Process-Based Collision Checking for Robot Motion Planning

Javier Muñoz, Peter Lehner, Luis Moreno, Alin Albu-Schäffer, Máximo A. Roa
RA-L 2023

Collision checking is the primitive operation of motion planning that consumes most time. Machine learning algorithms have proven to accelerate collision checking. We propose CollisionGP, a Gaussian process-based algorithm for modeling a robot's configuration space and query collision checks. Collis

Cited by 13Source ↗Scholar ↗
2023

Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes

Salvatore D'Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, Máximo A. Roa
RA-L 2023

Grasping a variety of objects is still an open problem in robotics, especially for cluttered scenarios. Multimodal grasping has been recognized as a promising strategy to improve the manipulation capabilities of a robotic system. This work presents a novel grasp planning algorithm for hybrid gripper

Cited by 30Source ↗Scholar ↗
2023

Task-Oriented Stiffness Setting for a Variable Stiffness Hand

Ana Elvira H. Martin, Ashok M. Sundaram, Werner Friedl, Virginia Ruiz Garate, Máximo A. Roa
ICRA 2023poster

The integration of variable stiffness actuators (VSA) in robotic systems endows them with intrinsic flexibility and therefore robustness to unknown disturbances. However, this characteristic presents a challenge: choosing the best intrinsic stiffness setting guaranteeing the required force ap-plicat…

Cited by 5Source ↗Scholar ↗
2022

Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits

Federico Del Fatti, Anna Sesselmann, Máximo A. Roa
IROS 2022poster

Several template models have been developed to facilitate the analysis of limit-cycles for quadrupedal locomotion. The parameters in the model are usually fixed; however, biology shows that animals change their leg stiffness according to the locomotion velocity, and this adaptability invariably affe…

Cited by 0Source ↗Scholar ↗
2022

Kinematic Transfer Learning of Sampling Distributions for Manipulator Motion Planning

Peter Lehner, Máximo A. Roa, Alin Albu-Schäffer
ICRA 2022poster

Recent research has shown that guiding sampling-based planners with sampling distributions, learned from previous experiences via density estimation, can significantly decrease computation times for motion planning. We propose an algorithm that can estimate the density from the experiences of a robo…

Cited by 7Source ↗Scholar ↗
2022

OCRTOC: A Cloud-Based Competition and Benchmark for Robotic Grasping and Manipulation

Ziyuan Liu, Wei Liu, Yuzhe Qin, Fanbo Xiang, Minghao Gou, Songyan Xin +5
RA-L 2022

In this paper, we propose a cloud-based benchmark for robotic grasping and manipulation, called the OCRTOC benchmark. The benchmark focuses on the object rearrangement problem, specifically table organization tasks. We provide a set of identical real robot setups and facilitate remote experiments of

Cited by 58Source ↗code ↗Scholar ↗
2022

Research Challenges and Progress in Robotic Grasping and Manipulation Competitions

Yu Sun, Joe Falco, Máximo A. Roa, Berk Çalli
RA-L 2022

This paper discusses recent research progress in robotic grasping and manipulation in the light of the latest Robotic Grasping and Manipulation Competitions (RGMCs). We first provide an overview of past benchmarks and competitions related to the robotics manipulation field. Then, we discuss the meth

Cited by 57Source ↗Scholar ↗
2021

Automated Planning of Workcell Layouts Considering Task Sequences

Timo Bachmann, Korbinian Nottensteiner, Máximo A. Roa
ICRA 2021poster

The initial design of a robotic workcell layout has a large impact on the feasibility and performance of the intended robotic tasks. We define this layout design as a constrained nonlinear optimization problem that aims to optimize the placement of workcell components by minimizing the distance trav…

Cited by 13Source ↗Scholar ↗
2021

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case

Luigi Bono Bonacchi, Máximo A. Roa, Anna Sesselmann, Florian Loeffl, Alin Albu-Schäffer, Cosimo Della Santina
RA-L 2021

Introducing elasticity in the mechanical design can endow robots with the ability of performing efficient and effective periodic motions. Yet, devising controllers that can take advantage of such elasticity is still an open challenge. This letter tackles an instance of this general problem, by propo

Cited by 5Source ↗Scholar ↗
2021

Guest Editorial: Introduction to the Special Issue on Benchmarking Protocols for Robotic Manipulation

Berk Çalli, Aaron M. Dollar, Máximo A. Roa, Siddhartha S. Srinivasa, Yu Sun
RA-L 2021

The papers in this special section focus on benchmarking protocols for robotic manipulation. Benchmarks are crucial for analyzing the effectiveness of an approach against a common basis, providing a quantitative means for interpreting performance. Carefully designed and widely recognized benchmarks

Cited by 3Source ↗Scholar ↗
2021

Quadrupedal template model for parametric stability analysis of trotting gaits

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
IROS 2021poster

Simple template models have proven useful for understanding the underlying dynamics of legged locomotion. The most common one, the SLIP model, considers the legs as linear springs with constant stiffness, and it explains well the radial dynamics of the legs. However, in order to study the influence…

Cited by 3Source ↗Scholar ↗
2020

A Bin-Picking Benchmark for Systematic Evaluation of Robotic Pick-and-Place Systems

Hussein Mnyusiwalla, Pavlos Triantafyllou, Panagiotis Sotiropoulos, Máximo A. Roa, Werner Friedl, Ashok M. Sundaram +2
RA-L 2020

Pick-and-place operations constitute the majority of today's industrial robotic applications. However, comparability and reproducibility of results has remained an issue that delays further advances in this field. Evaluation of manipulation systems can be carried out at different levels, but for the

Cited by 43Source ↗Scholar ↗
2020

Benchmarking Hand and Grasp Resilience to Dynamic Loads

Francesca Negrello, Werner Friedl, Giorgio Grioli, Manolo Garabini, Oliver Brock, Antonio Bicchi +2
RA-L 2020

In this work, we investigate the behavior of artificial hands under impulsive load conditions. Resilience to impacts has been seldom considered in grasp and manipulation literature and benchmarks, although it is one of the most relevant issues in a number of applications involving physical interacti

Cited by 13Source ↗Scholar ↗
2020

Benchmarking Protocol for Grasp Planning Algorithms

Yasemin Bekiroglu, Naresh Marturi, Máximo A. Roa, Komlan Jean Maxime Adjigble, Tommaso Pardi, Cindy Grimm +3
RA-L 2020

Numerous grasp planning algorithms have been proposed since the 1980s. The grasping literature has expanded rapidly in recent years, building on greatly improved vision systems and computing power. Methods have been proposed to plan stable grasps on known objects (exact 3D model is available), famil

Cited by 44Source ↗Scholar ↗
2020

Environment-Aware Grasp Strategy Planning in Clutter for a Variable Stiffness Hand

Ashok M. Sundaram, Werner Friedl, Máximo A. Roa
IROS 2020poster

This paper deals with the problem of planning grasp strategies on constrained and cluttered scenarios. The planner sequences the objects for grasping by considering multiple factors: (i) possible environmental constraints that can be exploited to grasp an object, (ii) object neighborhood, (iii) capa…

Cited by 10Source ↗Scholar ↗
2019

A Benchmarking Framework for Systematic Evaluation of Robotic Pick-and-Place Systems in an Industrial Grocery Setting

Pavlos Triantafyllou, Hussein Mnyusiwalla, Panagiotis Sotiropoulos, Máximo A. Roa, Duncan Russell, Graham Deacon
ICRA 2019poster

Robotic manipulation is a very active field of research nowadays; however, pick-and-place operations constitute the majority of today's industrial robotic applications. In order to adopt a robotic solution for an industrial setting, proper evaluation processes should be defined to assess the system'…

Cited by 16Source ↗Scholar ↗
2019

Experiments with Human-inspired Behaviors in a Humanoid Robot: Quasi-static Balancing using Toe-off Motion and Stretched Knees

Bernd Henze, Máximo A. Roa, Alexander Werner, Alexander Dietrich, Christian Ott, Alin Albu-Schäffer
ICRA 2019poster

Humanoid robots typically display locomotion patterns that include walking with flat foot-ground contact, and knees slightly bent. However, analysis of human gait indicate that several physiological mechanisms like stretched knees, heel-strike and toe push-off increase the step length and energetic…

Cited by 13Source ↗Scholar ↗
2019

Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks

Firas Abi-Farraj, Bernd Henze, Christian Ott, Paolo Robuffo Giordano, Máximo A. Roa
RA-L 2019

Balancing is a critical feature for a robot interacting with an unstructured environment. The balancing control should account for unknown perturbation forces that might destabilize the robot when performing the intended tasks. In the case of humanoid robots this challenge is higher due to the inher

Cited by 37Source ↗Scholar ↗
2018

CLASH: Compliant Low Cost Antagonistic Servo Hands

Werner Friedl, Hannes Höppner, Florian Schmidt, Máximo A. Roa, Markus Grebenstein
IROS 2018poster

This paper presents the first two members of the new generation of CLASH hands, which exploit low cost actuation and rapid prototyping to create antagonistic modular and lightweight hands and grippers. The hands approach the robustness of the DLR Awiwi hand with a much lower complexity and cost. To…

Cited by 33Source ↗Scholar ↗
2018

Hierarchical Path Planner Using Workspace Decomposition and Parallel Task-Space RRTs

George Mesesan, Máximo A. Roa, Esra Icer, Matthias Althoff
IROS 2018poster

This paper presents a hierarchical path planner consisting of two stages: a global planner that uses workspace information to create collision-free paths for the robot end-effector to follow, and multiple local planners running in parallel that verify the paths in the configuration space by expandin…

Cited by 17Source ↗Scholar ↗
2018

Humanoid Teleoperation Using Task-Relevant Haptic Feedback

Firas Abi-Farrajl, Bernd Henze, Alexander Werner, Michael Panzirsch, Christian Ott, Máximo A Roa
IROS 2018poster

Robotic teleoperation is a key technology for a wide variety of fields. Teleoperating a humanoid in particular is essential as it allows the user to act remotely on an interface designed especially for humans, e.g., in a space station, or operating tools and machinery in disaster scenarios. This pap…

Cited by 48Source ↗Scholar ↗
2017

Grasp quality evaluation done right: How assumed contact force bounds affect Wrench-based quality metrics

Robert Krug, Yasemin Bekiroglu, Máximo A. Roa
ICRA 2017poster

Wrench-based quality metrics play an important role in many applications such as grasp planning or grasp success prediction. In this work, we study the following discrepancy which is frequently overlooked in practice: the quality metrics are commonly computed under the assumption of sum-magnitude bo…

Cited by 24Source ↗Scholar ↗
2017

Multi-contact balancing of humanoid robots in confined spaces: Utilizing knee contacts

Bernd Henze, Alexander Dietrich, Máximo A. Roa, Christian Ott
IROS 2017poster

Introducing humanoid robots in areas where space is limited, for example in search-and-rescue scenarios or industrial manufacturing, represents a huge challenge, especially when the environment is cluttered and unknown. The robot should be capable of utilizing multiple contact points distributed acr…

Cited by 38Source ↗Scholar ↗
2016

Grasp quality evaluation in underactuated robotic hands

Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Máximo A. Roa
IROS 2016poster

Underactuated and synergy-driven hands are gaining attention in the grasping community mainly due to their simple kinematics, intrinsic compliance and versatility for grasping objects even in non structured scenarios. The evaluation of the grasping capabilities of such hands is a challenging task. T…

Cited by 13Source ↗Scholar ↗
2016

Multi-contact planning and control for a torque-controlled humanoid robot

Alexander Werner, Bernd Henze, Diego A. Rodriguez, Jonathan Gabaret, Oliver Porges, Máximo A. Roa
IROS 2016poster

Humanoid robots that need to traverse constrained and uncertain environments require a suitable combination of perception, planning and control. This paper presents an integrated pipeline that allows the robot to autonomously acquire visual information, define step locations, compute feasible multi-…

Cited by 29Source ↗Scholar ↗
2015

Determining independent contacts regions to immobilize 2D articulated objects

Noé Alvarado, Raúl Suárez, Máximo A. Roa
ICRA 2015poster

This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a force-closure (FC) immobilization, independently of the exact position of the finger. These regions allow a robust finger or fixture…

Cited by 5Source ↗Scholar ↗
2015

Functional power grasps transferred through warping and replanning

Theodoros Stouraitis, Ulrich Hillenbrand, Máximo A. Roa
ICRA 2015poster

This paper presents a method to transfer functional grasps among objects of the same category through contact warping and local replanning. The method transfers implicit knowledge that enables an action on a class of objects for which no explicit grasp or task information has been given in advance.…

Cited by 18Source ↗Scholar ↗
2015

Simultaneous and realistic contact and force planning in grasping

Katharina Hertkorn, Máximo A. Roa, Thomas Wimböck, Christoph Borst
IROS 2015poster

Traditional approaches in grasping consider separately the planning of contact points and forces. This often leads to optimally simulated grasps that fail in a real execution when the forces applied at the chosen contact points cannot resist expected perturbations like the own object weight. This pa…

Cited by 3Source ↗Scholar ↗