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An.Dy SIGNED

Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

An.Dy project word cloud

Explore the words cloud of the An.Dy project. It provides you a very rough idea of what is the project "An.Dy" about.

validating models scenario first progresses technologies validation force cobot innovative react necessitate comfort humanoid leadership intentional actively motion realistic ergonomy balance scenarios assistance workspace deployment interaction contacts stress collaborative niche unintentional assistive strengthen tracking human andy body reducing andycontrol share predictive thanks permitted industrial modeling nowadays directions safely robots adapts andysuit workers safety wearable behavior physical measuring technological leads engaged certified market robotic endowing innovate maintaining humans progress exoskeleton motions optimizing leverages individual recent andymodel cognitive accelerate robot helping

Project "An.Dy" data sheet

The following table provides information about the project.

Coordinator	FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA Organization address address: VIA MOREGO 30 city: GENOVA postcode: 16163 website: www.iit.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	Italy [IT]
Project website	https://andy-project.eu/
Total cost	3˙950˙025 €
EC max contribution	3˙950˙025 € (100%)
Programme	1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
Code Call	H2020-ICT-2016-1
Funding Scheme	RIA
Starting year	2017
Duration (year-month-day)	from 2017-01-01 to 2020-12-31

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA Organization address address: VIA MOREGO 30 city: GENOVA postcode: 16163 website: www.iit.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (GENOVA)	coordinator	874˙317.00
2	DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV Organization address address: Linder Hoehe city: KOELN postcode: 51147 website: www.dlr.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (KOELN)	participant	698˙246.00
3	INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE INSTITUT NATIONAL DE RECHERCHE ENINFORMATIQUE ET AUTOMATIQUE Organization address address: DOMAINE DE VOLUCEAU ROCQUENCOURT city: LE CHESNAY CEDEX postcode: 78153 website: www.inria.fr contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	FR (LE CHESNAY CEDEX)	participant	582˙238.00
4	OTTOBOCK SE & CO. KGAA OTTOBOCK SE & CO. KGAA Organization address address: MAX-NADER-STRASSE 15 city: DUDERSTADT postcode: 37115 website: http://www.ottobock.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (DUDERSTADT)	participant	441˙500.00
5	INSTITUT JOZEF STEFAN INSTITUT JOZEF STEFAN Organization address address: Jamova 39 city: LJUBLJANA postcode: 1000 website: www.ijs.si contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	SI (LJUBLJANA)	participant	425˙222.00
6	AnyBody Technology A/S AnyBody Technology A/S Organization address address: Niels Jernes Vej 10 city: Aalborg postcode: 9220 website: www.anybodytech.com contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DK (Aalborg)	participant	317˙250.00
7	XSENS TECHNOLOGIES B.V. XSENS TECHNOLOGIES B.V. Organization address address: PANTHEON 6A 8A city: ENSCHEDE postcode: 7521 PR website: www.xsens.com contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	NL (ENSCHEDE)	participant	316˙250.00
8	IMK AUTOMOTIVE GMBH IMK AUTOMOTIVE GMBH Organization address address: AMSELGRUND 30 city: CHEMNITZ postcode: 9128 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (CHEMNITZ)	participant	295˙000.00

Map

Project objective

Recent technological progress in robot physical interaction permitted robots to actively and safely share with human a common workspace. Thanks to these technologies, Europe nowadays leads the robotic market in the niche of safety certified robots by endowing them with the ability to react to unintentional contacts. ANDY leverages these technologies and strengthen the European leadership by endowing robots with the ability to control physical collaboration through intentional interaction. These advances necessitate progresses along three main directions: measuring, modeling and helping humans engaged in intentional collaborative physical tasks. First, ANDY will innovate the way of measuring human whole-body motions developing the ANDYSUIT, a wearable force and motion tracking technology. Second, ANDY will develop the ANDYMODEL, a technology to learn cognitive models of human behavior in collaborative tasks. Third, ANDY will propose the ANDYCONTROL, an innovative technology for helping humans through predictive physical collaboration. ANDY will accelerate take-up and deployment by validating its progresses in realistic scenarios. In the first validation scenario the robot is identified with an industrial collaborative robot (i.e. robot=cobot) which adapts its ergonomy to individual workers. In the second validation scenario the robot is identified with an assistive exoskeleton (i.e. robot=exoskeleton) optimizing human comfort and reducing physical stress. In the third validation scenario the robot is identified with a humanoid (i.e. robot=humanoid) offering assistance to a human while maintaining the balance of both.

Deliverables

List of deliverables.
Website and software repository online	Websites, patent fillings, videos etc.	2019-12-02 17:54:40
ANDYDATASET specification	Documents, reports	2019-12-02 17:54:40
Data management plan - 1	Open Research Data Pilot	2019-12-02 17:54:40
ANDYSUIT & updates - 1	Documents, reports	2019-12-02 17:54:40
Specifications for the ANDYSUIT	Documents, reports	2019-12-02 17:54:39
Reactive control	Documents, reports	2019-12-02 17:54:39

Take a look to the deliverables list in detail: detailed list of An.Dy deliverables.

Publications

List of publications.
year	authors and title	journal	last update
2018	MAURICE, P. PADOIS, V. MEASSON, Y BIDAUD, P. Assesing and improving human movements using sensitivity analysis and digital human simulation published pages: , ISSN: , DOI:	World Congress of Biomechanics	2019-12-02
2019	Maurice, Pauline; Padois, Vincent; Measson, Yvan; Bidaud, Philippe Assessing and improving human movements using sensitivity analysis and digital human simulation published pages: , ISSN: 1362-3052, DOI:	International Journal of Computer Integrated Manufacturing 2	2019-12-02
2019	Franz Steinmetz, Verena Nitsch, Freek Stulp Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition published pages: 1-1, ISSN: 2377-3766, DOI: 10.1109/LRA.2019.2928782	IEEE Robotics and Automation Letters 4	2019-12-02
2018	Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste Using Parameterized Black-Box Priors to Scale Up Model-Based Policy Search for Robotics published pages: , ISSN: , DOI:	ICRA 2018 - International Conference on Robotics and Automation 3	2019-12-02
2018	Maurice, P.; Ivaldi, S.; Fritzsche, L.; Babic, J.; Stulp, F.; Damsgaard, M.; Graimann, B.; Bellusci, G.; Pucci, D.; Nori, F. Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project published pages: , ISSN: , DOI:	9th International Conference on Safety of Industrial Automated Systems â€“ SIAS 2018, Nancy	2019-12-02
2018	Penco, L.; Clement, B.; Modugno, V.; Mingo Hoffman, E.M.; Nava, G.; Pucci, D.; Tsagarakis, N.G.; Mouret, J.-B.; Ivaldi, S. Robust real-time whole-body motion retargeting from human to humanoid published pages: , ISSN: , DOI:	Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS)	2019-12-02
2019	Tirupachuri, Yeshasvi; Nava, Gabriele; Latella, Claudia; Ferigo, Diego; Rapetti, Lorenzo; Tagliapietra, Luca; Nori, Francesco; Pucci, Daniele Towards Partner-Aware Humanoid Robot Control Under Physical Interactions published pages: , ISSN: , DOI:	http://arxiv.org/abs/1809.06165	2019-12-02
2019	Claudia Latella, Marta Lorenzini, Maria Lazzaroni, Francesco Romano, Silvio Traversaro, M. Ali Akhras, Daniele Pucci, Francesco Nori Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms published pages: 1591-1603, ISSN: 0929-5593, DOI: 10.1007/s10514-018-9808-4	Autonomous Robots 43/6	2019-12-02
2018	Ugurlu, B.; Ivaldi, S. Public Simulation Software published pages: , ISSN: , DOI:	Humanoid Robotics: A Reference â€“ Ed. Prahlad Vadakkepat, Ambarish Goswami, and Jong-Hwan Kim VOL 35	2019-12-02
2018	Ajoudani, A.; Zanchettin, A.M.; Ivaldi, S.; Albu-Schaeffer, A.; Kosuge, K.; Khatib, O. Progress and Prospects of the Human-Robot Collaboration published pages: P 957-975, ISSN: 1573-7527, DOI:	Autonomous Robots Vol 42	2019-12-02
2018	Ivaldi, S Intelligent Human-Robot Collaboration with Prediction and Anticipation published pages: Pages 9-11, ISSN: 0926-4981, DOI:	ERCIM NEWS - Special theme: Human-Robot Vol 114	2019-12-02
2017	DeÅ¾man, Miha; BabiÄ, Jan; Gams, Andrej Qualitative assessment of a clutch-actuated ankle exoskeleton published pages: pp. 720-737, 201, ISSN: , DOI:	Advances in service and industrial robotics : proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, [21-23 June 2017, Torino, Italy] 1	2019-12-02
2018	Otani, K.; Bouyarmane, K.; Ivaldi, S. Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller published pages: , ISSN: , DOI:	Proc. IEEE/RAS Int. Conf. Robotics and Automation (ICRA)	2019-12-02
2017	Dafarra, Stefano; Romano, Francesco; Nava, Gabriele; Nori, Francesco A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping published pages: , ISSN: , DOI:	http://arxiv.org/abs/1705.10635 15	2019-12-02
2018	MalaisÃ©, A.; Maurice, P.; Colas F.; Ivaldi S. Online Activity Recognition for Automatic Ergonomics Assessment published pages: , ISSN: , DOI:	9th International Conference on Safety of Industrial Automated Systems â€“ SIAS 2018, Nancy	2019-12-02
2018	Maurice, P.; Allienne, L.; Malaise, A.; Ivaldi, S. Ethical and Social Considerations for the introduction of Human-Centered Technologies at Work published pages: , ISSN: , DOI:	IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)	2019-12-02
2018	Chaveroche, M.; MalaisÃ©, A.; Colas, F.; Charpillet, F.; Ivaldi, S. A Variational Time Series Feature Extractor for Action Prediction published pages: , ISSN: , DOI:	arXiv:1807.02350 [cs.LG]	2019-12-02
2018	Charbonneau, M.; Modugno, V.; Nori, F.; Oriolo, G.; Pucci, D.; Ivaldi, S. Learning robust task priorities of QP-based whole-body torque controllers published pages: , ISSN: , DOI:	Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS)	2019-12-02
2019	Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci Trajectory Advancement during Human-Robot Collaboration published pages: , ISSN: , DOI:	IEEE RO-MAN 2019	2019-12-02
2018	Ivaldi, S.; M. Pateraki Human-Robot Interaction - Introduction to the Special Theme published pages: P 6-7, ISSN: 0926-4981, DOI:	ERCIM NEWS - Special theme: Human-Robot Vol 114	2019-12-02
2018	Dafarra, Stefano; Nava, Gabriele; Charbonneau, Marie; Guedelha, Nuno; Andrade, Francisco; Traversaro, Silvio; Fiorio, Luca; Romano, Francesco; Nori, Francesco; Metta, Giorgio; Pucci, Daniele A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots published pages: , ISSN: , DOI:	arxiv.org/abs/1807.05395	2019-12-02
2018	Pauline Maurice, Neville Hogan, Dagmar Sternad Predictability, force, and (anti)resonance in complex object control published pages: 765-780, ISSN: 0022-3077, DOI: 10.1152/jn.00918.2017	Journal of Neurophysiology 120/2	2019-12-02
2019	Adrien Malaise, Pauline Maurice, Francis Colas, Serena Ivaldi Activity Recognition for Ergonomics Assessment of Industrial Tasks With Automatic Feature Selection published pages: 1132-1139, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2894389	IEEE Robotics and Automation Letters 4/2	2019-12-02
2018	Chavez, Francisco Javier Andrade; Nava, Gabriele; Traversaro, Silvio; Nori, Francesco; Pucci, Daniele Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors published pages: , ISSN: , DOI:	http://arxiv.org/abs/1812.00650	2019-12-02
2017	Dafarra, Stefano; Romano, Francesco; Nori, Francesco A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot published pages: , ISSN: , DOI:	http://arxiv.org/abs/1705.10638	2019-12-02
2019	Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques published pages: 2794, ISSN: 1424-8220, DOI: 10.3390/s19122794	Sensors 19/12	2019-12-02
2019	Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babic, Jan; Pucci, Daniele Telexistence and Teleoperation for Walking Humanoid Robots published pages: , ISSN: , DOI:	http://arxiv.org/abs/1809.01578	2019-12-02
2018	MalaisÃ©, A.; Maurice, P.; Colas, F.; Charpillet, F.; Ivaldi, S. Activity recognition with multiple wearable sensors for industrial applications published pages: , ISSN: , DOI:	Proc. 11th Int. Conf. on Advances in Computer-Human Interactions (ACHI)	2019-12-02
2018	Maurice, P.; Camernik, J.; Gorjan, D.; Schirrmeister, B.; Bornmann, J.; Tagliapietra, L.; Pucci, D.; Ivaldi, S.; Babic, J. Objective and Subjective Effects of Passive Exoskeleton on Overhead Work published pages: , ISSN: , DOI:	9th International Conference on Safety of Industrial Automated Systems â€“ SIAS 2018	2019-12-02
2018	Dermy, O.; Chaveroche, M.; Colas, F.; Charpillet, F.; Ivaldi, S. Prediction of Human Whole-Body Movements with AE-ProMPs published pages: , ISSN: , DOI:	Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS 2018)	2019-12-02
2019	Dermy O., Charpillet F., Ivaldi S. Multi-modal Intention Prediction with Probabilistic Movement Primitives published pages: P 181-196, ISSN: , DOI:	Human Friendly Robotics. Springer Proceedings in Advanced Robotics Vol 7	2019-12-02
2019	Andrea Gigli, Arjan Gijsberts, Claudio Castellini Natural Myocontrol in a Realistic Setting: a Comparison Between Static and Dynamic Data Acquisition published pages: , ISSN: , DOI:	2019 IEEE/RAS-EMBS 16th International Conference on Rehabilitation Robotics	2019-12-02
2018	Gennaro Raiola, Susana Sanchez Restrepo, Pauline Chevalier, Pedro Rodriguez-Ayerbe, Xavier Lamy, Sami Tliba, Freek Stulp Co-manipulation with a library of virtual guiding fixtures published pages: 1037-1051, ISSN: 0929-5593, DOI: 10.1007/s10514-017-9680-7	Autonomous Robots 42/5	2019-12-02
2018	Chatzilygeroudis, Konstantinos; Vassiliades, Vassilis; Stulp, Freek; Calinon, Sylvain; Mouret, Jean-Baptiste A survey on policy search algorithms for learning robot controllers in a handful of trials published pages: , ISSN: , DOI:	arXiv.org e-Print Archive 25	2019-12-02
2019	Olivier Sigaud, Freek Stulp Policy search in continuous action domains: An overview published pages: 28-40, ISSN: 0893-6080, DOI: 10.1016/j.neunet.2019.01.011	Neural Networks 113	2019-12-02
2018	Kaushik , Rituraj; Chatzilygeroudis , Konstantinos; Mouret , Jean-Baptiste Multi-objective Model-based Policy Search for Data-efficient Learning with Sparse Rewards published pages: , ISSN: , DOI:	CoRL 2018 - Conference on Robot Learning, Oct 2018, Zurich, Switzerland 3	2019-12-02
2018	Antoine Cully, Konstantinos Chatzilygeroudis, Federico Allocati, Jean-Baptiste Mouret Limbo: A Flexible High-performance Library for Gaussian Processes modeling and Data-Efficient Optimization published pages: 545, ISSN: 2475-9066, DOI: 10.21105/joss.00545	Journal of Open Source Software 3/26	2019-12-02
2018	Pautrat, RÃ©mi; Chatzilygeroudis, Konstantinos; Mouret, Jean-Baptiste Bayesian Optimization with Automatic Prior Selection for Data-Efficient Direct Policy Search published pages: , ISSN: , DOI:	ICRA 2018 - International Conference on Robotics and Automation 4	2019-12-02
2018	Hoffman , Enrico ,; ClÃ©ment , Brice; Zhou , Chengxu; Tsagarakis , Nikos ,; Mouret , Jean-Baptiste; Ivaldi , Serena Whole-Body Compliant Control of iCub: first results with OpenSoT published pages: , ISSN: , DOI:	ICRA 2018 - International Conference on Robotics and Automation 3	2019-12-02
2017	Ajoudani, Arash; Zanchettin, Andrea,; Ivaldi, Serena; Albu-SchÃ¤ffer, Alin; Kosuge, Kazuhiro; Khatib, Oussama Progress and Prospects of the Human-Robot Collaboration published pages: , ISSN: 0929-5593, DOI:	Autonomous Robots 1	2019-12-02
2017	Dermy, O.; Charpillet, F.; Ivaldi, S. Multi-modal intention prediction with Probabilistic Movement Primitives published pages: , ISSN: , DOI:	Proc. 10th International Workshop on Human-Friendly Robotics (HFR 2017)	2019-12-02
2018	Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael Mistry, Vincent Padois, Francesco Nori The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction published pages: 516-523, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2768126	IEEE Robotics and Automation Letters 3/1	2019-12-02
2017	Nori, Francesco Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations published pages: , ISSN: , DOI:	2	2019-12-02
2017	Spitz, Jonathan; Bouyarmane, Karim; Ivaldi, Serena; Mouret, Jean-Baptiste Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control published pages: , ISSN: , DOI:	https://hal.archives-ouvertes.fr/hal-01569948 3	2019-12-02
2017	Otani, Kazuya; Bouyarmane, Karim Adaptive Whole-Body Manipulation in Human-to-Humanoid Multi-Contact Motion Retargeting published pages: , ISSN: , DOI:	2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) 1	2019-12-02
2017	Ivaldi, Serena; Fritzsche, Lars; BabiÄ, Jan; Stulp, Freek; Damsgaard, Michael; Graimann, Bernhard; Bellusci, Giovanni; Nori, Francesco Anticipatory models of human movements and dynamics: the roadmap of the AnDy project published pages: , ISSN: , DOI:	Digital Human Models (DHM), Jun 2017, Bonn, Germany. 2017 1	2019-12-02
2018	Miha DeÅ¾man, Jan BabiÄ, Andrej Gams Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton published pages: 778-786, ISSN: , DOI: 10.1007/978-3-319-61276-8_82		2019-12-02
2018	Otani, Kazuya; Bouyarmane, Karim; Ivaldi, Serena Generating Assistive Humanoid Motions for Co-Manipulation Tasks with a Multi-Robot Quadratic Program Controller published pages: , ISSN: , DOI:	Proceedings of International Conference on Robotics and Automation 1	2019-12-02
2017	Modugno, V.; Nava, G.; Pucci, D.; Nori, F.; Oriolo, G.; Ivaldi, S. Safe trajectory optimization for whole-body motion of humanoids published pages: , ISSN: , DOI:	Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS)	2019-12-02
2017	Oriane Dermy, Alexandros Paraschos, Marco Ewerton, Jan Peters, FranÃ§ois Charpillet, Serena Ivaldi Prediction of Intention during Interaction with iCub with Probabilistic Movement Primitives published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2017.00045	Frontiers in Robotics and AI 4	2019-12-02
2018	Pauline Maurice, Meghan E. Huber, Neville Hogan, Dagmar Sternad Velocity-Curvature Patterns Limit Humanâ€“Robot Physical Interaction published pages: 249-256, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2737048	IEEE Robotics and Automation Letters 3/1	2019-12-02
2017	Chatzilygeroudis, Konstantinos; Rama, Roberto; Kaushik, Rituraj; Goepp, Dorian; Vassiliades, Vassilis; Mouret, Jean-Baptiste Black-Box Data-efficient Policy Search for Robotics published pages: , ISSN: , DOI:	https://hal.inria.fr/hal-01576683 1	2019-12-02
2017	K. Otani, K. Bouyarmane, S. Ivaldi Humanoid Control for Co-Manipulations Tasks with Whole-body Human Dynamics Reconstruction published pages: , ISSN: , DOI:	\"Workshop \"\"Human-humanoid collaboration\"\" in HUMANOIDS 2017\"	2019-12-02
2017	Spitz, J.; Bouyarmane, K.; Ivaldi, S.; Mouret, J.-B. Trial-and-Error Learning of Repulsors for Humanoid QP-based Whole-Body Control published pages: , ISSN: , DOI:	Proc. IEEE/RAS International Conf. on Humanoid Robots (HUMANOIDS)	2019-12-02

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