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Optimal Active Sensing with Process and Measurement Noise

TitleOptimal Active Sensing with Process and Measurement Noise
Publication TypeConference Paper
Year of Publication2018
Conference Name2018 IEEE International Conference on Robotics and Automation (ICRA)
Pagination2118-2125
Date PublishedMay
AuthorsCognetti, M, Salaris, P, P. Giordano, R
Keywordscontinuous Riccati equation, covariance matrices, eigenvalues and eigenfunctions, Estimation, estimation algorithm, gradient methods, inversely proportional, Kalman Filter, Kalman filters, largest eigenvalue, maximum estimation uncertainty, measurement noise, mobile robots, noise measurement, nonlinear differentially flat system, nonlinear filters, nonnegligible process noise, observability, observability gramian, OG, onboard sensors, online gradient descent method, optimal active sensing, optimal trajectories, optimisation, path planning, posteriori covariance matrix, Riccati equations, Robot sensing systems, Trajectory, trajectory control, unicycle robot
Abstract

The goal of this paper is to increase the estimation performance of an Extended Kalman Filter for a nonlinear differentially flat system by planning trajectories able to maximize the amount of information gathered by onboard sensors in presence of both process and measurement noises. In a previous work, we presented an online gradient descent method for planning optimal trajectories along which the smallest eigenvalue of the Observability Gramian (OG) is maximized. As the smallest eigenvalue of the OG is inversely proportional to the maximum estimation uncertainty, its maximization reduces the maximum estimation uncertainty of any estimation algorithm employed during motion. However, the OG does not consider the process noise that, instead, in several applications is far from being negligible. For this reason, this paper proposes a novel solution able to cope with non-negligible process noise: this is achieved by minimizing the largest eigenvalue of the a posteriori covariance matrix obtained by solving the Continuous Riccati Equation as a measure of the total available information. This minimization is expected to maximize the information gathered by the outputs while, at the same time, limiting as much as possible the negative effects of the process noise. We apply our method to a unicycle robot. The comparison between the novel method and the one of our previous work (which did not consider process noise) shows significant improvements in the obtained estimation accuracy.

URLhttps://ieeexplore.ieee.org/document/8460476
DOI10.1109/ICRA.2018.8460476

Shared-autonomy control for intuitive bimanual tele-manipulation

TitleShared-autonomy control for intuitive bimanual tele-manipulation
Publication TypeConference Paper
Year of Publication2018
Conference Name2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
Pagination1–9
AuthorsLaghi, M, Maimeri, M, Marchand, M, Leparoux, C, Catalano, M, Ajoudani, A, Bicchi, A
PublisherIEEE
Abstract

Existing dual-arm teleoperation systems function on one-to-one coupling of the human and robotic arms to fully exploit the user's dexterity during bimanual tele-manipulation. While the individual coordination of the robot end-effectors can be necessary for complex and asymmetric tasks, it may result in a cumbersome user experience during symmetric bimanual tasks (e.g. manipulating and carrying objects). In this paper we propose a novel framework that includes the one-to-one direct control and a new shared autonomy strategy. The user can autonomously choose between the two, and if the new one is selected the robots move in a coordinated way, in which desired positions are extrapolated from the movements and gestures of just one users arm. These gesture commands are interpreted and handled by the control, with the purpose of unloading the users cognitive burden. Lastly, the tele-impedance paradigm, i.e., the remote control of robot impedance and position references, is applied to both controls, to improve remote physical interaction performances. The paper reports on the overall proposed architecture, its implementation and its preliminary validation trough a multi subject experimental campaign.

URLhttps://ieeexplore.ieee.org/abstract/document/8625047
DOI10.1109/HUMANOIDS.2018.8625047

An Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test

TitleAn Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test
Publication TypeConference Paper
Year of Publication2019
Conference NameIEEE International Conference on Rehabilitation Robotics (ICORR)
AuthorsKanzler, CM, Catalano, MG, Piazza, C, Bicchi, A, Gassert, R, Lambercy, O
DOI10.1109/ICORR.2019.8779550

The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation

TitleThe softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation
Publication TypeConference Paper
Year of Publication2018
Conference NameInternational Symposium on Wearable Robotics
AuthorsPiazza, C, Catalano, MG, Bianchi, M, Ricciardi, E, Pratichizzo, D, Haddadin, S, Luft, ARL, Lambercy, O, Gassert, R, Jakubowitz, E, Van Der Kooij, H, Tonis, F, Bonomo, F, de Jonge, B, Ward, T, Zhao, K, Santello, M, Bicchi, A
DOI10.1007/978-3-030-01887-0_71

Heart rate variability analysis during muscle fatigue due to prolonged isometric contraction

TitleHeart rate variability analysis during muscle fatigue due to prolonged isometric contraction
Publication TypeConference Paper
Year of Publication2017
Conference NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
AuthorsGuidi, A, Greco, A, Felici, F, Leo, A, Ricciardi, E, Bianchi, M, Bicchi, A, Valenza, G, Scilingo, EP
DOI10.1109/EMBC.2017.8037076

Muscle fatigue assessment through electrodermal activity analysis during isometric contraction

TitleMuscle fatigue assessment through electrodermal activity analysis during isometric contraction
Publication TypeConference Paper
Year of Publication2017
Conference NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
AuthorsGreco, A, Guidi, A, Felici, F, Leo, A, Ricciardi, E, Bianchi, M, Bicchi, A, Citi, L, Valenza, G, Scilingo, EP
DOI10.1109/EMBC.2017.8036846

Synergy-driven performance enhancement of vision-based 3D hand pose reconstruction

TitleSynergy-driven performance enhancement of vision-based 3D hand pose reconstruction
Publication TypeConference Paper
Year of Publication2017
Conference NameWireless mobile communication and healthcare : 6th International conference, MobiHealth 2016, Milan, Italy, November 14-16, 2016, Proceedings
AuthorsCiotti, S, Battaglia, E, Oikonomidis, I, Makris, A, Tsoli, A, Bicchi, A, Agyros, AA, Bianchi, M
DOI10.1007/978-3-319-58877-3_42

EEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines

TitleEEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines
Publication TypeConference Paper
Year of Publication2018
Conference NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
AuthorsCatrambone, V, Greco, A, Averta, G, Bianchi, M, Vanello, N, Bicchi, A, Valenza, G, Scilingo, EP
URLhttps://zenodo.org/record/2559406#.XTbl43ux9GM
DOI10.1109/EMBC.2018.8512239

EEG Complexity Maps to Characterise Brain Dynamics during Upper Limb Motor Imagery

TitleEEG Complexity Maps to Characterise Brain Dynamics during Upper Limb Motor Imagery
Publication TypeConference Paper
Year of Publication2018
Conference Name Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
AuthorsCatambrone, V, Greco, A, Averta, G, Bianchi, M, Bicchi, A, Scilingo, EP, Valenza, G
URL https://ieeexplore.ieee.org/document/8512912
DOI10.1109/EMBC.2018.8512912

Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units

TitleComparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units
Publication TypeConference Paper
Year of Publication2019
Conference Name18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
AuthorsKieliba, PJ, Veltink, PH, T. Baldi, L, Pratichizzo, D, Santaera, G, Bicchi, A, Bianchi, M, Van Beijnum, BJF
URLhttps://ieeexplore.ieee.org/document/8624929
DOI10.1109/HUMANOIDS.2018.8624929

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