is a postdoctoral researcher at the Human-Robot Interfaces and Physical Interaction at Istituto Italiano di Tecnologia (IIT). He received the B.S., M.S., and the PhD in Mechatronics from the University of Malaga in 2015, 2017, and 2020, respectively. He is currently involved in the Horizon-2020 project SOPHIA and ERC project Ergo-Lean. He has contributed to several Spanish and European projects related to search-and-rescue, physical robotic assistance, and Human-Robot Collaboration in Industrial environments. He has been served as a reviewer for high-impact journals and conferences such as IEEE RAM, RA-L, ICRA, IROS, ToH, etc. His research interests include HRC, human modeling, and haptic perception.
Active Supernumerary Bodies for Physical Robotic Assistance in Industrial Operations [video]
This talk describes a new collaborative robotic system that subsumes the advantages of mobile manipulators and supernumerary limbs. By exploiting the reconfiguration potential of collaborative mobile manipulators, this talk proposes a new collaborative robotic system that can be physically coupled to the human counterpart a supernumerary body. Through an admittance interface, the user can locally operate the supernumerary robotic body and send different commands to the controller when performing conjoined actions. Different interfaces, controllers, and applications are described. The proposed technology has a high potential for industrial tasks in terms of effort reduction, flexibility, and reconfigurability.
is a tenured senior scientist at the Italian Institute of Technology (IIT), where he leads the Human-Robot Interfaces and physical Interaction (HRI²) laboratory. He received his PhD degree in Robotics and Automation from University of Pisa and IIT in 2014. He is a recipient of the European Research Council (ERC) starting grant 2019, the coordinator of the Horizon-2020 project SOPHIA, and the co-coordinator of the Horizon-2020 project CONCERT. He is a recipient of the IEEE Robotics and Automation Society (RAS) Early Career Award 2021, and winner of the Amazon Research Awards 2019, of the Solution Award 2019 (MECSPE2019), of the KUKA Innovation Award 2018, of the WeRob best poster award 2018, and of the best student paper award at ROBIO 2013. His PhD thesis was a finalist for the Georges Giralt PhD award 2015 - best European PhD thesis in robotics. He was also a finalist for the Solution Award 2020 (MECSPE2020), the best conference paper award at Humanoids 2018, for the best interactive paper award at Humanoids 2016, for the best oral presentation award at Automatica (SIDRA) 2014, and for the best manipulation paper award at ICRA 2012. He is the author of the book "Transferring Human Impedance Regulation Skills to Robots" in the Springer Tracts in Advanced Robotics (STAR), and several publications in journals, international conferences, and book chapters. He is currently serving as the executive manager of the IEEE-RAS Young Reviewers' Program (YRP), and as chair and representative of the IEEE-RAS Young Professionals Committee. He has been serving as a member of scientific advisory committee and as an associate editor for several international journals and conferences such as IEEE RAL, ICRA, IROS, ICORR, etc. His main research interests are in physical human-robot interaction, mobile manipulation, robust and adaptive control, assistive robotics, and tele-robotics.
received PhD in computing engineering from the University of Málaga, Málaga, Spain, in 1999. Currently, Associate Professor with the Department of Systems Engineering and Automation, University of Málaga, SPAIN. His research started in mobile robotics, teleoperation, and surgical robotics. He worked in rescue robotics projects and led physical human-robot interaction projects. Has participated in automation projects with the industry and is author of more than a dozen patents related to medical robotics and robot end effectors. His current research interests include physical Human-Robot Interaction, mechatronics, and mobile robotics.
Floating Platforms and pHRI. End Effector Considerations [video]
This work proposes different solutions to improving the floating base platforms that have to interact with humans. The contributions are based on new end-effector designs for grasping and manipulating human limbs. In particular, methods for the improvement of the interaction safety, based on the estimation of positions of the human with respect to underactuated grippers from proprioceptive information, have been referenced. With the same purpose, a modified design of the gripper and a method is presented to estimate both grasping and interaction forces. Finally, design optimization is suggested based on reducing the number of arms in the floating base platforms by using in-hand manipulation techniques and presenting a pHRI hand with active surfaces.
Jaeheung Park, Seoul National University
is a Professor in the Department of Intelligence and Information at Seoul National University, South Korea, since 2009. Prior to joining Seoul National University, he shortly worked at Hansen Medical Inc, a medical robotics company. He received the Ph.D. degree from Stanford University, and the B.S. and M.S. degrees from Seoul National University. His research group is currently conducting many national projects on the topics of humanoid robots, rehabilitation/medical robots, and autonomous vehicles. He was a team leader of TEAM SNU for DRC Finals 2015 (DARPA Robotics Challenge Finals), which was a robotics competition for disaster response. In 2016, His team won the award given by Minister of Science, ICT, and Future Planning, at Challenge Parade that was held by the Korean Government. He has participated in organizing many international robotics conferences such as IROS, HUMANOIDS, and HRI. He has also served as a Conference Editorial Board or as an Associate Editor for many international conferences. He currently serves as a co-chair of the RAS Technical Committee on Whole-body Control.
Difficulties in Assembly Task for Floating-base Robots [video]
The use of floating-base can provide a large workspace for assembly tasks, especially for moving objects and manipulating large objects. However, there are inherently difficult problems in assembly tasks, such as uncertainties in modeling and sensing, and motion planning for the task. In this talk, I would like to introduce our recent project about assembling a chair with multiple manipulators, and share the difficulties in tasks assembling a chair. Then, the expected advantages and challenges are briefly discussed when the manipulators with floating-base are used for the assembly tasks.