IML Publications

List of works published by IML members during their work here.

                @inproceedings{Nazari2021,
                    title={Tactile Dynamic Behaviour Prediction Based on Robot Action},
                    author={Nazari, Kiyanoush and Mandil, Willow and Hanheide, Marc and Ghalamzan, Amir},
                    booktitle={Proceedings of TAROS 2021},
                    year={2021},
                    url={https://lcas.lincoln.ac.uk/wp/wp-content/uploads/2021/09/t5.3-TAROS2021paper18.pdf}
                }
                @inproceedings{Mavrakis2020,
                    doi = {10.1109/iros45743.2020.9341112},
                    url = {https://doi.org/10.1109/iros45743.2020.9341112},
                    year = {2020},
                    month = oct,
                    publisher = {{IEEE}},
                    author = {Nikos Mavrakis and Amir M. Ghalamzan E. and Rustam Stolkin},
                    title = {Estimating An Object's Inertial Parameters By Robotic Pushing: A Data-Driven Approach},
                    booktitle = {2020 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
                }
                @inproceedings{Parsa2020,
                    doi = {10.1109/case48305.2020.9216789},
                    url = {https://doi.org/10.1109/case48305.2020.9216789},
                    year = {2020},
                    month = aug,
                    publisher = {{IEEE}},
                    author = {Soran Parsa and Disha Kamale and Sariah Mghames and Kiyanoush Nazari and Tommaso Pardi and Aravinda R. Srinivasan and Gerhard Neumann and Marc Hanheide and Ghalamzan E. Amir},
                    title = {Haptic-guided shared control grasping: collision-free manipulation},
                    booktitle = {2020 {IEEE} 16th International Conference on Automation Science and Engineering ({CASE})}
                }
                @inproceedings{Mghames2020,
                    doi = {10.1109/iros45743.2020.9341728},
                    url = {https://doi.org/10.1109/iros45743.2020.9341728},
                    year = {2020},
                    month = oct,
                    publisher = {{IEEE}},
                    author = {Sariah Mghames and Marc Hanheide and Amir Ghalamzan E.},
                    title = {Interactive Movement Primitives: Planning to Push Occluding Pieces for Fruit Picking},
                    booktitle = {2020 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
                }
                @inproceedings{Selvaggio2019,
                    doi = {10.1109/iros40897.2019.8968109},
                    url = {https://doi.org/10.1109/iros40897.2019.8968109},
                    year = {2019},
                    month = nov,
                    publisher = {{IEEE}},
                    author = {Mario Selvaggio and Amir M. Ghalamzan E and Rocco Moccia and Fanny Ficuciello and Bruno Siciliano},
                    title = {Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery},
                    booktitle = {2019 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
                }
                @article{Mghames2019,
                    doi = {10.1109/lra.2019.2893423},
                    url = {https://doi.org/10.1109/lra.2019.2893423},
                    year = {2019},
                    month = apr,
                    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
                    volume = {4},
                    number = {2},
                    pages = {838--845},
                    author = {Sariah Mghames and Manuel Giuseppe Catalano and Antonio Bicchi and Giorgio Grioli},
                    title = {A Spherical Active Joint for Humanoids and Humans},
                    journal = {{IEEE} Robotics and Automation Letters}
                }
                @article{Parsa2019,
                    doi = {10.1007/s00170-019-03857-1},
                    url = {https://doi.org/10.1007/s00170-019-03857-1},
                    year = {2019},
                    month = jun,
                    publisher = {Springer Science and Business Media {LLC}},
                    volume = {104},
                    number = {5-8},
                    pages = {1769--1783},
                    author = {Soran Parsa and Mozafar Saadat},
                    title = {Intelligent selective disassembly planning based on disassemblability characteristics of product components},
                    journal = {The International Journal of Advanced Manufacturing Technology}
                }
                @inproceedings{Mghames2019,
                    doi = {10.1109/icorr.2019.8779456},
                    url = {https://doi.org/10.1109/icorr.2019.8779456},
                    year = {2019},
                    month = jun,
                    publisher = {{IEEE}},
                    author = {Sariah Mghames and Cosimo Della Santina and Manolo Garabini and Antonio Bicchi},
                    title = {A Neuromuscular-Model Based Control Strategy to Minimize Muscle Effort in Assistive Exoskeletons},
                    booktitle = {2019 {IEEE} 16th International Conference on Rehabilitation Robotics ({ICORR})}
                }
                @article{Negrello2019,
                    doi = {10.1109/lra.2019.2925304},
                    url = {https://doi.org/10.1109/lra.2019.2925304},
                    year = {2019},
                    month = oct,
                    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
                    volume = {4},
                    number = {4},
                    pages = {3161--3168},
                    author = {Francesca Negrello and Sariah Mghames and Giorgio Grioli and Manolo Garabini and Manuel Giuseppe Catalano},
                    title = {A Compact Soft Articulated Parallel Wrist for Grasping in Narrow Spaces},
                    journal = {{IEEE} Robotics and Automation Letters}
                }
                @article{GhalamzanE2018,
                    doi = {10.1016/j.robot.2017.12.001},
                    url = {https://doi.org/10.1016/j.robot.2017.12.001},
                    year = {2018},
                    month = mar,
                    publisher = {Elsevier {BV}},
                    volume = {101},
                    pages = {45--56},
                    author = {Amir M. Ghalamzan E. and Matteo Ragaglia},
                    title = {Robot learning from demonstrations: Emulation learning in environments with moving obstacles},
                    journal = {Robotics and Autonomous Systems}
                }
                @article{Shang2018,
                    doi = {10.1016/j.sigpro.2017.07.023},
                    url = {https://doi.org/10.1016/j.sigpro.2017.07.023},
                    year = {2018},
                    month = jan,
                    publisher = {Elsevier {BV}},
                    volume = {142},
                    pages = {375--387},
                    author = {Ronghua Shang and Yijing Yuan and Licheng Jiao and Yang Meng and Amir Masoud Ghalamzan},
                    title = {A self-paced learning algorithm for change detection in synthetic aperture radar images},
                    journal = {Signal Processing}
                }
                @article{Parsa SoranSaadat Mozafar2018,
                    place = {NL},
                    title = {Intelligent Planning Using Genetic Algorithm for Automated Disassembly},
                    volume = {8},
                    ISSN = {2352-751X},
                    url = {https://doi.org/10.3233/978-1-61499-902-7-189},
                    DOI = {10.3233/978-1-61499-902-7-189},
                    abstractNote = {Intelligent disassembly process planning is a relatively new approach to deal with the end-of-life (EOF) products. Demands for recycling and remanufacturing EOF products,  limitation of the natural resources and new environmental regulations make an efficient disassembly process vital. The main problem to find an efficient plan for disassembly process is that the number of possible sequences rises dramatically with the number of the parts and makes it NP-hard type problem. An effective method to optimize the disassembly sequences is using genetic algorithm (GA). In this work,  a genetic algorithm method based on robotic disassembly process was successfully used to optimize robotic disassembly sequence of a case study product.},
                    number = {Advances in Manufacturing Technology XXXII},
                    journal = {Advances in Transdisciplinary Engineering},
                    publisher = {IOS Press},
                    author = {Parsa Soran and Saadat Mozafar},
                    year = {2018},
                    pages = {189–194}
                }
                @article{Shang2017,
                    doi = {10.1007/s12293-017-0224-7},
                    url = {https://doi.org/10.1007/s12293-017-0224-7},
                    year = {2017},
                    month = feb,
                    publisher = {Springer Science and Business Media {LLC}},
                    volume = {10},
                    number = {1},
                    pages = {81--102},
                    author = {Ronghua Shang and Bingqi Du and Kaiyun Dai and Licheng Jiao and Amir M. Ghalamzan Esfahani and Rustam Stolkin},
                    title = {Quantum-Inspired Immune Clonal Algorithm for solving large-scale capacitated arc routing problems},
                    journal = {Memetic Computing}
                }
                @article{Shang2017,
                    doi = {10.1016/j.asoc.2017.08.050},
                    url = {https://doi.org/10.1016/j.asoc.2017.08.050},
                    year = {2017},
                    month = dec,
                    publisher = {Elsevier {BV}},
                    volume = {61},
                    pages = {1060--1073},
                    author = {Ronghua Shang and Huan Liu and Licheng Jiao and Amir M.Ghalamzan Esfahani},
                    title = {Community mining using three closely joint techniques based on community mutual membership and refinement strategy},
                    journal = {Applied Soft Computing}
                }
                @article{Osa2017,
                    doi = {10.1109/lra.2017.2653850},
                    url = {https://doi.org/10.1109/lra.2017.2653850},
                    year = {2017},
                    month = apr,
                    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
                    volume = {2},
                    number = {2},
                    pages = {819--826},
                    author = {Takayuki Osa and Amir M. Ghalamzan Esfahani and Rustam Stolkin and Rudolf Lioutikov and Jan Peters and Gerhard Neumann},
                    title = {Guiding Trajectory Optimization by Demonstrated Distributions},
                    journal = {{IEEE} Robotics and Automation Letters}
                }
                @inproceedings{Ghalamzan2017,
                    doi = {10.1109/iros.2017.8206178},
                    url = {https://doi.org/10.1109/iros.2017.8206178},
                    year = {2017},
                    month = sep,
                    publisher = {{IEEE}},
                    author = {E. Amir M. Ghalamzan and Firas Abi-Farraj and Paolo Robuffo Giordano and Rustam Stolkin},
                    title = {Human-in-the-loop optimisation: Mixed initiative grasping for optimally facilitating post-grasp manipulative actions},
                    booktitle = {2017 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
                }
                @inproceedings{Mavrakis2017,
                    doi = {10.1109/iros.2017.8206258},
                    url = {https://doi.org/10.1109/iros.2017.8206258},
                    year = {2017},
                    month = sep,
                    publisher = {{IEEE}},
                    author = {Nikos Mavrakis and E. Amir M. Ghalamzan and Rustam Stolkin},
                    title = {Safe robotic grasping: Minimum impact-force grasp selection},
                    booktitle = {2017 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
                }
                @inproceedings{Amir2017,
                    doi = {10.1109/icrom.2017.8466161},
                    url = {https://doi.org/10.1109/icrom.2017.8466161},
                    year = {2017},
                    month = oct,
                    publisher = {{IEEE}},
                    author = {M. Amir and E. Ghalamzan and Nikos Mavrakis and Rustam Stolkin},
                    title = {Grasp that optimises objectives along post-grasp trajectories},
                    booktitle = {2017 5th {RSI} International Conference on Robotics and Mechatronics ({ICRoM})}
                }
                @inproceedings{Mghames2017,
                    doi = {10.1109/icorr.2017.8009304},
                    url = {https://doi.org/10.1109/icorr.2017.8009304},
                    year = {2017},
                    month = jul,
                    publisher = {{IEEE}},
                    author = {Sariah Mghames and Marco Laghi and Cosimo Della Santina and Manolo Garabini and Manuel Catalano and Giorgio Grioli and Antonio Bicchi},
                    title = {Design,  control and validation of the variable stiffness exoskeleton {FLExo}},
                    booktitle = {2017 International Conference on Rehabilitation Robotics ({ICORR})}
                }
                @inproceedings{GhalamzanE2016,
                    doi = {10.1109/iros.2016.7759158},
                    url = {https://doi.org/10.1109/iros.2016.7759158},
                    year = {2016},
                    month = oct,
                    publisher = {{IEEE}},
                    author = {Amir M. Ghalamzan E. and Nikos Mavrakis and Marek Kopicki and Rustam Stolkin and Ales Leonardis},
                    title = {Task-relevant grasp selection: A joint solution to planning grasps and manipulative motion trajectories},
                    booktitle = {2016 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})}
                }
                @inproceedings{Mavrakis2016,
                    doi = {10.1109/humanoids.2016.7803274},
                    url = {https://doi.org/10.1109/humanoids.2016.7803274},
                    year = {2016},
                    month = nov,
                    publisher = {{IEEE}},
                    author = {Nikos Mavrakis and Amir M. Ghalamzan E. and Rustam Stolkin and Luca Baronti and Marek Kopicki and Marco Castellani},
                    title = {Analysis of the inertia and dynamics of grasped objects,  for choosing optimal grasps to enable torque-efficient post-grasp manipulations},
                    booktitle = {2016 {IEEE}-{RAS} 16th International Conference on Humanoid Robots (Humanoids)}
                }
                @inproceedings{Talha2016,
                    doi = {10.1109/ssrr.2016.7784294},
                    url = {https://doi.org/10.1109/ssrr.2016.7784294},
                    year = {2016},
                    month = oct,
                    publisher = {{IEEE}},
                    author = {M. Talha and E. A. M. Ghalamzan and C. Takahashi and J. Kuo and W. Ingamells and R. Stolkin},
                    title = {Towards robotic decommissioning of legacy nuclear plant: Results of human-factors experiments with tele-robotic manipulation,  and a discussion of challenges and approaches for decommissioning},
                    booktitle = {2016 {IEEE} International Symposium on Safety,  Security,  and Rescue Robotics ({SSRR})}
                }
                @inproceedings{GhalamzanE2015,
                    doi = {10.1109/icra.2015.7139467},
                    url = {https://doi.org/10.1109/icra.2015.7139467},
                    year = {2015},
                    month = may,
                    publisher = {{IEEE}},
                    author = {Amir M. Ghalamzan E. and Luca Bascetta and Marcello Restelli and Paolo Rocco},
                    title = {Estimating a Mean-Path from a set of 2-D curves},
                    booktitle = {2015 {IEEE} International Conference on Robotics and Automation ({ICRA})}
                }
                @inproceedings{GhalamzanE2015,
                    doi = {10.1109/icra.2015.7139985},
                    url = {https://doi.org/10.1109/icra.2015.7139985},
                    year = {2015},
                    month = may,
                    publisher = {{IEEE}},
                    author = {Amir M. Ghalamzan E and Chris Paxton and Gregory D. Hager and Luca Bascetta},
                    title = {An incremental approach to learning generalizable robot tasks from human demonstration},
                    booktitle = {2015 {IEEE} International Conference on Robotics and Automation ({ICRA})}
                }
                @inproceedings{Mura2014,
                    doi = {10.1109/acc.2014.6859468},
                    url = {https://doi.org/10.1109/acc.2014.6859468},
                    year = {2014},
                    month = jun,
                    publisher = {{IEEE}},
                    author = {Roberto Mura and Amir Masoud Ghalamzan Esfahani and Marco Lovera},
                    title = {Robust harmonic control for helicopter vibration attenuation},
                    booktitle = {2014 American Control Conference}
                }
                @inproceedings{Mura2014,
                    url = {http://hdl.handle.net/11311/821944},
                    year = {2013},
                    author = {Luca Bascetta and Gianni Ferretti and Amir Ghalamzan and Gianantonio Magnani and Matteo Pirotta and Marcello Restelli and Paolo Rocco},
                    title = {Sistema autonomo di sbavatura robotizzata},
                    booktitle = {Motion Control 2013}
                }
                @article{GhalamzanE2021,
                    doi = {10.1016/j.simpa.2021.100087},
                    url = {https://doi.org/10.1016/j.simpa.2021.100087},
                    year = {2021},
                    month = aug,
                    publisher = {Elsevier {BV}},
                    volume = {9},
                    pages = {100087},
                    author = {Amir Ghalamzan E. and Kiyanoush Nazari and Hamidreza Hashempour and Fangxun Zhong},
                    title = {Deep-{LfD}: Deep robot learning from demonstrations},
                    journal = {Software Impacts}
                }
                @article{DBLP:journals/corr/abs-2012-02458,
                    author    = {Hamidreza Hashempour and
                                 Kiyanoush Nazari and
                                 Fangxun Zhong and
                                 Ghalamzan E. Amir},
                    title     = {A data-set of piercing needle through deformable objects for Deep
                                 Learning from Demonstrations},
                    journal   = {CoRR},
                    volume    = {abs/2012.02458},
                    year      = {2020},
                    url       = {https://arxiv.org/abs/2012.02458},
                    eprinttype = {arXiv},
                    eprint    = {2012.02458},
                    timestamp = {Wed, 09 Dec 2020 15:29:05 +0100},
                    biburl    = {https://dblp.org/rec/journals/corr/abs-2012-02458.bib},
                    bibsource = {dblp computer science bibliography, https://dblp.org}
                }
                @INCOLLECTION {book,
                    author    = "Amir Ghalamzan Esfahani and Gautham P Das and Iain Gould and Payam Zarafshan and Rajendran S Vishnu and James Heselden and Amir Badiee and Isobel Wright and Simon Pearson",
                    title     = "Applications of Solar Energy in Precision Agriculture and Smart Farming",
                    booktitle = "Solar Energy Advancements in Agriculture and Food Production Systems",
                    publisher = "Elsevier",
                    year      = "In press",
                    chapter   = "10"
                }
                @INPROCEEDINGS {icra2021,
                    author    = "Rajendran S Vishnu and Simon Parsons and Amir Ghalamzan Esfahani",
                    title     = "Comparison of Manual and Robotic Picking Actions for Strawberry Harvesting: A Discussion",
                    booktitle = "ICRA Workshop on Agri-Food Manipulation 2021",
                    year      = "2021"
                }
            

Awards

Awards and recognitions won by our team.

Best paper (finalist)

IEEE 16th International Conference on Automation Science and Engineering, 2020

Haptic-guided shared control grasping for collision-free manipulation
Parsa; Disha Kamale; Sariah Mghameh; Kiyanoush Nazari; G. Neumann, Mark Hanheide and Amir M. Ghalamzan Esfahani.

Link


Best interactive presentation (finalist)

IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 2016

Analysis of the inertia and dynamics of grasped objects, for choosing optimal grasps to enable torque-efficient post-grasp manipulations
Mavrakis, N., Stolkin, R., Baronti, L., Kopicki, M. and Castellani, M.

Workshops

IML organized and hosted these workshops at varoius events.

Grasp it! Let me see how can I achieve post-grasp objectives!

A. Ghalamzan E., N. Mavrakis and R. Stolkin

2nd UK manipulation workshop at the Imperial College-London, 2017.


Learning from Demonstration in Static Environment and Generalizing to Dynamic Environments

A. Ghalamzan E.

Workshop on Machine Learning in Planning and Control of Robot Motion, IROS 2015.


Learning How to Avoid an Obstacle from Demonstration

A. Ghalamzan E., C. Paxton, G. D. Hager and L. Bascetta

Workshop on Learning Plans with Context from Human Signals, Robotics: Science and Systems (RSS), 2014.

Oxford University
University of Bristol
University of Birmingham
London Imperial College
Queen Mary University
Polytechnic University of Milan