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Montebelli, Alberto
Publications (10 of 30) Show all publications
Messina Dahlberg, G., Lindblom, J., Montebelli, A. & Billing, E. (2018). Negotiating epistemic spaces for dialogue across disciplines in higher education: The case of the Pepper experiment. In: EARLI, Joint SIG10-21 Conference, 2018 (forthcoming): . Paper presented at EARLI, Joint SIG10-21 Conference, 2018, Luxembourg, 30–31 August 2018. Luxembourg
Open this publication in new window or tab >>Negotiating epistemic spaces for dialogue across disciplines in higher education: The case of the Pepper experiment
2018 (English)In: EARLI, Joint SIG10-21 Conference, 2018 (forthcoming), Luxembourg, 2018Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
Luxembourg: , 2018
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-16120 (URN)
Conference
EARLI, Joint SIG10-21 Conference, 2018, Luxembourg, 30–31 August 2018
Available from: 2018-09-06 Created: 2018-09-06 Last updated: 2018-10-02
Montebelli, A. & Lindblom, J. (2018). On Transferring Crafting Intentions from Humans to Robots: A Message to Manufacturers of the (Near) Future. In: Peter Thorvald, Keith Case (Ed.), Peter Thorvald, Keith Case (Ed.), Advances in Manufacturing Technology XXXII: Proceedings of the 16th International Conference on Manufacturing Research, incorporating the 33rd National Conference on Manufacturing Research, September 11–13, 2018, University of Skövde, Sweden. Paper presented at 16th International Conference on Manufacturing Research incorporating the 33rd National Conference on Manufacturing Research (ICMR 2018), Skövde, Sweden, on 11-13 September 2018 (pp. 163-168). Amsterdam: IOS Press
Open this publication in new window or tab >>On Transferring Crafting Intentions from Humans to Robots: A Message to Manufacturers of the (Near) Future
2018 (English)In: Advances in Manufacturing Technology XXXII: Proceedings of the 16th International Conference on Manufacturing Research, incorporating the 33rd National Conference on Manufacturing Research, September 11–13, 2018, University of Skövde, Sweden / [ed] Peter Thorvald, Keith Case, Amsterdam: IOS Press, 2018, p. 163-168Conference paper, Published paper (Refereed)
Abstract [en]

Our present work aligns three results from previous robotics research in simultaneous kinesthetic teaching of spatial and force/torque requirements for “in-contact” tasks, to highlight the endeavor towards the creation of safe, flexible, cost effective, confidential, natural programming interfaces, a crucial tool for the manufacturing domain of the future. The tasks that we here consider overarch different dimensions of complexity, from writing with a marker on a white slate to using a wood plane. Eventually, incrementally assisted kinesthetic teaching (IAKT) allows human experts to refine their demonstrations under modulated robotic assistance, thus converging, by a limit process constituted of a sequence of sub-perfect individual demonstrations, towards the “ideal” crafting intention, i.e. the humanly unreachable, perfect execution of the task. In the closing discussion, we demonstrate how this approach can find space in contemporary industrial and SMSE manufacturing, in order to aim for improved production quality and performance.

Place, publisher, year, edition, pages
Amsterdam: IOS Press, 2018
Series
Advances in Transdisciplinary Engineering, ISSN 2352-751X, E-ISSN 2352-7528 ; 8
Keywords
physical human-robot interaction, human-robot collaboration, crafting intention, kinesthetic teaching
National Category
Robotics
Research subject
INF302 Autonomous Intelligent Systems; Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-16118 (URN)10.3233/978-1-61499-902-7-163 (DOI)978-1-61499-901-0 (ISBN)978-1-61499-902-7 (ISBN)
Conference
16th International Conference on Manufacturing Research incorporating the 33rd National Conference on Manufacturing Research (ICMR 2018), Skövde, Sweden, on 11-13 September 2018
Funder
Knowledge Foundation, 20140220
Available from: 2018-08-31 Created: 2018-08-31 Last updated: 2018-09-24Bibliographically approved
Montebelli, A. & Tykal, M. (2017). Intention Disambiguation: When does action reveal its underlying intention?. In: : . Paper presented at 12th ACM / IEEE International Conference on Human-Robot Interaction (HRI 2017), Vienna, Austira, March 6-9, 2017 – Workshop: The Role of Intentions in Human-Robot Interaction.
Open this publication in new window or tab >>Intention Disambiguation: When does action reveal its underlying intention?
2017 (English)Conference paper, Oral presentation with published abstract (Refereed)
National Category
Other Engineering and Technologies not elsewhere specified Robotics Human Computer Interaction
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-13442 (URN)
Conference
12th ACM / IEEE International Conference on Human-Robot Interaction (HRI 2017), Vienna, Austira, March 6-9, 2017 – Workshop: The Role of Intentions in Human-Robot Interaction
Funder
Knowledge Foundation, 20140220
Available from: 2017-03-19 Created: 2017-03-19 Last updated: 2018-01-13Bibliographically approved
Montebelli, A., Billing, E. A., Lindblom, J. & Messina Dahlberg, G. (2017). Reframing HRI Education: A Dialogic Reformulation of HRI Education to Promote Diverse Thinking and Scientific Progress. Journal of Human-Robot Interaction, 6(2), 3-26
Open this publication in new window or tab >>Reframing HRI Education: A Dialogic Reformulation of HRI Education to Promote Diverse Thinking and Scientific Progress
2017 (Swedish)In: Journal of Human-Robot Interaction, E-ISSN 2163-0364, Vol. 6, no 2, p. 3-26Article in journal (Refereed) Published
Abstract [en]

Over the last few years, technological developments in semi-autonomous machines have raised awareness about the strategic importance of human-robot interaction (HRI) and its technical and social implications. At the same time, HRI still lacks an established pedagogic tradition in the coordination of its intrinsically interdisciplinary nature. This scenario presents steep and urgent challenges for HRI education. Our contribution presents a normative interdisciplinary dialogic framework for HRI education, denoted InDia wheel, aimed toward seamless and coherent integration of the variety of disciplines that contribute to HRI. Our framework deemphasizes technical mastery, reducing it to a necessary yet not sufficient condition for HRI design, thus modifying the stereotypical narration of HRI-relevant disciplines and creating favorable conditions for a more diverse participation of students. Prospectively, we argue, the design of an educational 'space of interaction’ that focuses on a variety of voices, without giving supremacy to one over the other, will be key to successful HRI education and practice.

Keywords
human-robot interaction, dialogic interdisciplinary HRI education
National Category
Interaction Technologies
Research subject
Interaction Lab (ILAB); INF302 Autonomous Intelligent Systems
Identifiers
urn:nbn:se:his:diva-14186 (URN)10.5898/JHRI.6.2.Montebelli (DOI)000424170500002 ()
Projects
Action and intention recognition in human interaction with autonomous systems -AIR
Funder
Knowledge Foundation, (SIDUS grant agreement no. 20140220
Available from: 2017-10-02 Created: 2017-10-02 Last updated: 2018-06-13Bibliographically approved
Montebelli, A. & Lowe, R. (2016). (Em)powering Emergent Cognition: Realistic proto-allostasis as a foundational route to cognitive ability. In: : . Paper presented at EUCognition Meeting 08-09.12.2016 in Vienna.
Open this publication in new window or tab >>(Em)powering Emergent Cognition: Realistic proto-allostasis as a foundational route to cognitive ability
2016 (English)Conference paper, Oral presentation with published abstract (Refereed)
Keywords
robot autonomy, allostasis, energy management
National Category
Other Computer and Information Science
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-13344 (URN)
Conference
EUCognition Meeting 08-09.12.2016 in Vienna
Available from: 2017-01-30 Created: 2017-01-30 Last updated: 2018-08-03Bibliographically approved
Tykal, M., Montebelli, A. & Kyrki, V. (2016). Incrementally Assisted Kinesthetic Teaching for Programming by Demonstration. In: Human-Robot Interaction (HRI), 2016 11th ACM/IEEE International Conference on: HRI 2016. Paper presented at 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Christchurch, New Zealand, 7-10 March 2016 (pp. 205-212). IEEE Computer Society
Open this publication in new window or tab >>Incrementally Assisted Kinesthetic Teaching for Programming by Demonstration
2016 (English)In: Human-Robot Interaction (HRI), 2016 11th ACM/IEEE International Conference on: HRI 2016, IEEE Computer Society, 2016, p. 205-212Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
IEEE Computer Society, 2016
Keywords
Dynamic time warping, Incremental learning, Kinesthetic teaching, Virtual tool dynamics
National Category
Robotics
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-12889 (URN)10.1109/HRI.2016.7451753 (DOI)000389809100028 ()2-s2.0-84964851942 (Scopus ID)978-1-4673-8369-1 (ISBN)978-1-4673-8370-7 (ISBN)
Conference
11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Christchurch, New Zealand, 7-10 March 2016
Available from: 2016-09-07 Created: 2016-09-07 Last updated: 2018-08-03Bibliographically approved
Racca, M., Pajarinen, J., Montebelli, A. & Kyrki, V. (2016). Learning in-contact control strategies from demonstration. In: IROS 2016: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Paper presented at 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, South Korea, 9-14 October, 2016 (pp. 688-695). IEEE
Open this publication in new window or tab >>Learning in-contact control strategies from demonstration
2016 (English)In: IROS 2016: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2016, p. 688-695Conference paper, Published paper (Refereed)
Abstract [en]

Learning to perform tasks like pulling a door handle or pushing a button, inherently easy for a human, can be surprisingly difficult for a robot. A crucial problem in these kinds of in-contact tasks is the context specificity of pose and force requirements. In this paper, a robot learns in-contact tasks from human kinesthetic demonstrations. To address the need to balance between the position and force constraints, we propose a model based on the hidden semi-Markov model (HSMM) and Cartesian impedance control. The model captures uncertainty over time and space and allows the robot to smoothly satisfy a task's position and force constraints by online modulation of impedance controller stiffness according to the HSMM state belief. In experiments, a KUKA LWR 4+ robotic arm equipped with a force/torque sensor at the wrist successfully learns from human demonstrations how to pull a door handle and push a button.

Place, publisher, year, edition, pages
IEEE, 2016
Series
Proceedings of the International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-13319 (URN)10.1109/IROS.2016.7759127 (DOI)000391921700101 ()2-s2.0-85006511822 (Scopus ID)978-1-5090-3762-9 (ISBN)
Conference
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, South Korea, 9-14 October, 2016
Available from: 2017-01-18 Created: 2017-01-18 Last updated: 2018-08-03Bibliographically approved
Thabet, M., Montebelli, A. & Kyrki, V. (2016). Learning Movement Synchronization in Multi-component Robotic Systems. In: : ICRA 2016. Paper presented at 2016 IEEE International Conference on Robotics and Automation (ICRA) Stockholm, Sweden, May 16-21, 2016 (pp. 249-256). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Learning Movement Synchronization in Multi-component Robotic Systems
2016 (English)In: : ICRA 2016, Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 249-256Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016
National Category
Robotics
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-12890 (URN)10.1109/ICRA.2016.7487141 (DOI)000389516200032 ()2-s2.0-84977483663 (Scopus ID)978-1-4673-8026-3 (ISBN)
Conference
2016 IEEE International Conference on Robotics and Automation (ICRA) Stockholm, Sweden, May 16-21, 2016
Available from: 2016-09-07 Created: 2016-09-07 Last updated: 2018-08-03Bibliographically approved
Montebelli, A., Steinmetz, F. & Kyrki, V. (2015). On handing down our tools to robots: Single-phase kinesthetic teaching for dynamic in-contact tasks. In: Proceedings of the 2015 IEEE International Conference on Robotics and Automation: ICRA 2015. Paper presented at 2015 IEEE International Conference on Robotics and Automation (ICRA) Washington State Convention Center Seattle, Washington, May 26-30, 2015 (pp. 5628-5634). IEEE conference proceedings
Open this publication in new window or tab >>On handing down our tools to robots: Single-phase kinesthetic teaching for dynamic in-contact tasks
2015 (English)In: Proceedings of the 2015 IEEE International Conference on Robotics and Automation: ICRA 2015, IEEE conference proceedings, 2015, p. 5628-5634Conference paper, Published paper (Refereed)
Abstract [en]

We present a (generalizable) method aimed tosimultaneously transfer positional and force requirements en-coded in a physical human skill (wood planing) from a humaninstructor to a robotic arm through kinesthetic teaching. Weachieve our goal through a novel use of a common sensoryconfiguration, constituted by a force/torque sensor mountedbetween the tool and the flange of a robotic arm. The roboticarm is endowed with integrated torque sensors at each joint.The mathematical model used to capture the general dynamicof the interaction between the human user and the wood surfaceis based on Dynamic Movement Primitives. During reenactmentof the task, the system can imitate and generalize the demon-strated spatial requirements, as well as their associated forceprofiles. Therefore, the robotic arm acquires the capacity toreproduce the dynamic profile for in-contact tasks requiringan articulated coordination in the distribution of forces. Forexample, the capacity to effectively operate the plane on a woodplank over multiple strokes, according to the demonstration ofthe human instructor.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2015
Keywords
physical human-robot interaction, programming by demonstration
National Category
Robotics
Identifiers
urn:nbn:se:his:diva-11670 (URN)10.1109/ICRA.2015.7139987 (DOI)2-s2.0-84938255018 (Scopus ID)978-1-4799-6923-4 (ISBN)
Conference
2015 IEEE International Conference on Robotics and Automation (ICRA) Washington State Convention Center Seattle, Washington, May 26-30, 2015
Available from: 2015-11-09 Created: 2015-11-09 Last updated: 2017-11-27Bibliographically approved
Steinmetz, F., Montebelli, A. & Kyrki, V. (2015). Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks. In: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids): . Paper presented at 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea, November 3-5, 2015 (pp. 202-209). IEEE Computer Society
Open this publication in new window or tab >>Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks
2015 (English)In: Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots (Humanoids), IEEE Computer Society, 2015, p. 202-209Conference paper, Published paper (Refereed)
Abstract [en]

This paper demonstrates a method for simulta-neous transfer of positional and force requirements for in-contact tasks from a human instructor to a robotic arm throughkinesthetic teaching. This is achieved by a specific use of thesensory configuration, where a force/torque sensor is mountedbetween the tool and the flange of a robotic arm endowedwith integrated torque sensors at each joint. The humandemonstration is modeled using Dynamic Movement Primitives.Following human demonstration, the robot arm is provided withthe capacity to perform sequential in-contact tasks, for examplewriting on a notepad a previously demonstrated sequence ofcharacters. During the reenactment of the task, the systemis not only able to imitate and generalize from demonstratedtrajectories, but also from their associated force profiles. In fact,the implemented framework is extended to successfully recoverfrom perturbations of the trajectory during reenactment andto cope with dynamic environments.

Place, publisher, year, edition, pages
IEEE Computer Society, 2015
Keywords
physical human-robot interaction, programming by demonstration
National Category
Robotics
Research subject
Interaction Lab (ILAB)
Identifiers
urn:nbn:se:his:diva-11671 (URN)10.1109/HUMANOIDS.2015.7363552 (DOI)000377954900031 ()2-s2.0-84962296207 (Scopus ID)978-1-4799-6885-5 (ISBN)
Conference
15th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, South Korea, November 3-5, 2015
Available from: 2015-11-09 Created: 2015-11-09 Last updated: 2018-08-03Bibliographically approved
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