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ORCIDFares J. Abu-Dakka
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2020 – today
- 2024
[j25]Akhil S. Anand
, Rituraj Kaushik, Jan Tommy Gravdahl, Fares J. Abu-Dakka:
Data-Efficient Reinforcement Learning for Variable Impedance Control. IEEE Access 12: 15631-15641 (2024)- [j24]Yingbai Hu, Fares J. Abu-Dakka, Fei Chen, Xiao Luo, Zheng Li, Alois Knoll, Weiping Ding:
Fusion dynamical systems with machine learning in imitation learning: A comprehensive overview. Inf. Fusion 108: 102379 (2024) - [j23]Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel:
Learning periodic skills for robotic manipulation: Insights on orientation and impedance. Robotics Auton. Syst. 180: 104763 (2024) - [c19]Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin:
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. ICRA 2024: 13376-13382 - [c18]Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares J. Abu-Dakka, Alois Knoll, Sami Haddadin:
1 kHz Behavior Tree for Self-adaptable Tactile Insertion. ICRA 2024: 16002-16008 - [c17]Peter So, Rafael I. Cabral Muchacho, Robin Jeanne Kirschner, Abdalla Swikir, Luis Figueredo, Fares J. Abu-Dakka, Sami Haddadin:
CITR: A Coordinate-Invariant Task Representation for Robotic Manipulation. ICRA 2024: 17501-17507 - [i23]Zheng Shen, Matteo Saveriano, Fares J. Abu-Dakka, Sami Haddadin:
Safe Execution of Learned Orientation Skills with Conic Control Barrier Functions. CoRR abs/2403.05447 (2024) - [i22]Yingbai Hu, Fares J. Abu-Dakka, Fei Chen, Xiao Luo, Zheng Li, Alois Knoll, Weiping Ding:
Fusion Dynamical Systems with Machine Learning in Imitation Learning: A Comprehensive Overview. CoRR abs/2403.19916 (2024) - [i21]Andrej Kruzliak, Jiri Hartvich, Shubhan P. Patni, Lukas Rustler, Jan Kristof Behrens, Fares J. Abu-Dakka, Krystian Mikolajczyk, Ville Kyrki, Matej Hoffmann:
Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements. CoRR abs/2404.07344 (2024) - 2023
- [j22]Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka:
Geometric Reinforcement Learning for Robotic Manipulation. IEEE Access 11: 111492-111505 (2023) - [j21]Matteo Saveriano, Fares J. Abu-Dakka, Aljaz Kramberger, Luka Peternel:
Dynamic movement primitives in robotics: A tutorial survey. Int. J. Robotics Res. 42(13): 1133-1184 (2023) - [j20]Matteo Saveriano, Fares J. Abu-Dakka, Ville Kyrki:
Learning stable robotic skills on Riemannian manifolds. Robotics Auton. Syst. 169: 104510 (2023) - [j19]Akhil S. Anand, Jan Tommy Gravdahl, Fares J. Abu-Dakka:
Model-based variable impedance learning control for robotic manipulation. Robotics Auton. Syst. 170: 104531 (2023) - [c16]David Blanco Mulero, Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki:
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. IROS 2023: 984-991 - [c15]Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, Dongheui Lee:
Orientation Control with Variable Stiffness Dynamical Systems. IROS 2023: 4457-4463 - [c14]Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki:
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features. IROS 2023: 10596-10603 - [c13]Naseem Alhousani, Hatice Kose, Fares J. Abu-Dakka:
Reinforcement Learning for Orientation on the Lie Algebra. SIU 2023: 1-4 - [i20]Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki:
Trajectory Optimization on Matrix Lie Groups with Differential Dynamic Programming and Nonlinear Constraints. CoRR abs/2301.02018 (2023) - [i19]David Blanco Mulero, Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki:
QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation. CoRR abs/2303.13320 (2023) - [i18]Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki:
SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features. CoRR abs/2303.14012 (2023) - [i17]Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, Dongheui Lee:
Orientation Control with Variable Stiffness Dynamical Systems. CoRR abs/2309.15624 (2023) - 2022
- [j18]Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka:
Learning Deep Robotic Skills on Riemannian Manifolds. IEEE Access 10: 114143-114152 (2022) - [j17]Haihang Wang, He Xu, Fares J. Abu-Dakka, Ville Kyrki, Chen Yang, Xin Li, Siqing Chen:
A Bidirectional Soft Biomimetic Hand Driven by Water Hydraulic for Dexterous Underwater Grasping. IEEE Robotics Autom. Lett. 7(2): 2186-2193 (2022) - [j16]Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki:
Deformation-Aware Data-Driven Grasp Synthesis. IEEE Robotics Autom. Lett. 7(2): 3038-3045 (2022) - [j15]Fares J. Abu-Dakka, Matteo Saveriano, Meghan E. Huber, Thiago Boaventura:
Editorial Variable Impedance Control and Learning in Complex Interaction Scenarios: Challenges and Opportunities. IEEE Robotics Autom. Lett. 7(4): 12158-12160 (2022) - [c12]Akhil S. Anand, Jens Erik Kveen, Fares J. Abu-Dakka, Esten Ingar Grøtli, Jan Tommy Gravdahl:
Addressing Sample Efficiency and Model-bias in Model-based Reinforcement Learning. ICMLA 2022: 1-6 - [c11]Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki:
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects. IROS 2022: 3123-3129 - [i16]Fares J. Abu-Dakka, Matteo Saveriano, Ville Kyrki:
A Unified Formulation of Geometry-aware Dynamic Movement Primitives. CoRR abs/2203.03374 (2022) - [i15]Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki:
A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects. CoRR abs/2203.12420 (2022) - [i14]Matteo Saveriano, Fares J. Abu-Dakka, Ville Kyrki:
Learning Stable Robotic Skills on Riemannian Manifolds. CoRR abs/2208.13267 (2022) - [i13]Akhil S. Anand, Fares J. Abu-Dakka, Jan Tommy Gravdahl:
Deep Model Predictive Variable Impedance Control. CoRR abs/2209.09614 (2022) - [i12]Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka:
Geometric Reinforcement Learning: The Case of Cartesian Space Orientation. CoRR abs/2210.08126 (2022) - [i11]Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka:
Learning Deep Robotic Skills on Riemannian manifolds. CoRR abs/2210.15244 (2022) - 2021
- [j14]Markku Suomalainen, Fares J. Abu-Dakka, Ville Kyrki:
Imitation learning-based framework for learning 6-D linear compliant motions. Auton. Robots 45(3): 389-405 (2021) - [j13]Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka, Ville Kyrki:
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements. IEEE Robotics Autom. Lett. 6(2): 2838-2845 (2021) - [j12]Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le, Ville Kyrki, He Xu:
A Novel Soft Robotic Hand Design With Human-Inspired Soft Palm: Achieving a Great Diversity of Grasps. IEEE Robotics Autom. Mag. 28(2): 37-49 (2021) - [j11]Fares J. Abu-Dakka, Yanlong Huang, João Silvério, Ville Kyrki:
A probabilistic framework for learning geometry-based robot manipulation skills. Robotics Auton. Syst. 141: 103761 (2021) - [j10]Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell:
Toward Orientation Learning and Adaptation in Cartesian Space. IEEE Trans. Robotics 37(1): 82-98 (2021) - [c10]Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel:
Periodic DMP formulation for Quaternion Trajectories. ICAR 2021: 658-663 - [i10]Matteo Saveriano, Fares J. Abu-Dakka, Aljaz Kramberger, Luka Peternel:
Dynamic Movement Primitives in Robotics: A Tutorial Survey. CoRR abs/2102.03861 (2021) - [i9]Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki:
Towards synthesizing grasps for 3D deformable objects with physics-based simulation. CoRR abs/2107.08898 (2021) - [i8]Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki:
Deformation-Aware Data-Driven Grasp Synthesis. CoRR abs/2109.05320 (2021) - [i7]Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel:
Periodic DMP formulation for Quaternion Trajectories. CoRR abs/2110.10510 (2021) - 2020
- [j9]Fares J. Abu-Dakka, Matteo Saveriano:
Variable Impedance Control and Learning - A Review. Frontiers Robotics AI 7: 590681 (2020) - [j8]Fares J. Abu-Dakka, Angel Valera, Juan A. Escalera, Mohamed Abderrahim, Alvaro Page, Vicente Mata:
Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework. Sensors 20(21): 6215 (2020) - [c9]Fares J. Abu-Dakka, Ville Kyrki:
Geometry-aware Dynamic Movement Primitives. ICRA 2020: 4421-4426 - [i6]Fares J. Abu-Dakka, Ville Kyrki:
Geometry-aware Dynamic Movement Primitives. CoRR abs/2003.06061 (2020) - [i5]Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le, Ville Kyrki, He Xu:
A Novel Design of Soft Robotic Hand with a Human-inspired Soft Palm for Dexterous Grasping. CoRR abs/2009.00979 (2020) - [i4]Fares J. Abu-Dakka, Matteo Saveriano:
Variable impedance control and learning - A review. CoRR abs/2010.06246 (2020) - [i3]Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka, Ville Kyrki:
Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements. CoRR abs/2010.08277 (2020)
2010 – 2019
- 2019
- [c8]Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell:
Generalized Orientation Learning in Robot Task Space. ICRA 2019: 2531-2537 - [c7]João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell:
Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives. IROS 2019: 90-97 - [i2]João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell:
Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives. CoRR abs/1903.02114 (2019) - [i1]Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell:
Towards Orientation Learning and Adaptation in Cartesian Space. CoRR abs/1907.03918 (2019) - 2018
- [j7]Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell:
Force-based variable impedance learning for robotic manipulation. Robotics Auton. Syst. 109: 156-167 (2018) - [j6]Pablo J. Alhama Blanco, Fares J. Abu-Dakka, Mohamed Abderrahim:
Practical Use of Robot Manipulators as Intelligent Manufacturing Systems. Sensors 18(9): 2877 (2018) - [c6]Fares J. Abu-Dakka, Leonel Dario Rozo, Darwin G. Caldwell:
Force-Based Learning of Variable Impedance Skills for Robotic Manipulation. Humanoids 2018: 1-9 - 2017
- [c5]Fares J. Abu-Dakka, Miguel Díaz-Rodríguez:
Comparison of trajectory parametrization methods with statistical analysis for dynamic parameter identification of serial robot. IROS 2017: 5874-5879 - 2016
- [c4]Juan A. Escalera, Fares J. Abu-Dakka, Mohamed Abderrahim:
A symbolic geometric formulation of branched articulated multibody systems based on graphs and lie groups. IROS 2016: 3018-3023 - 2015
- [j5]Fares J. Abu-Dakka, Bojan Nemec, Jimmy A. Jørgensen, Thiusius R. Savarimuthu, Norbert Krüger, Ales Ude:
Adaptation of manipulation skills in physical contact with the environment to reference force profiles. Auton. Robots 39(2): 199-217 (2015) - [j4]Fares J. Abu-Dakka, Francisco Valero, Jose Luis Suñer, Vicente Mata:
A direct approach to solving trajectory planning problems using genetic algorithms with dynamics considerations in complex environments. Robotica 33(3): 669-683 (2015) - [c3]Fares J. Abu-Dakka, Angel Valera, Juan A. Escalera, Marina Vallés, Vicente Mata, Mohamed Abderrahim:
Trajectory Adaptation and Learning for Ankle Rehabilitation Using a 3-PRS Parallel Robot. ICIRA (2) 2015: 483-494 - 2014
- [j3]Fares J. Abu-Dakka, Bojan Nemec, Aljaz Kramberger, Anders Glent Buch, Norbert Krüger, Ales Ude:
Solving peg-in-hole tasks by human demonstration and exception strategies. Ind. Robot 41(6): 575-584 (2014) - 2013
- [c2]Bojan Nemec, Fares J. Abu-Dakka, Barry Ridge, Ales Ude, Jimmy A. Jørgensen, Thiusius Rajeeth Savarimuthu, Jérôme Jouffroy, Henrik Gordon Petersen, Norbert Krüger:
Transfer of assembly operations to new workpiece poses by adaptation to the desired force profile. ICAR 2013: 1-7 - 2012
- [j2]Fares J. Abu-Dakka, Francisco Valero, Vicente Mata:
Evolutionary Path Planning Algorithm for Industrial Robots. Adv. Robotics 26(11-12): 1369-1392 (2012) - [j1]Francisco Rubio, Fares J. Abu-Dakka, Francisco Valero, Vicente Mata:
Comparing the efficiency of five algorithms applied to path planning for industrial robots. Ind. Robot 39(6): 580-591 (2012) - 2011
- [c1]Fares J. Abu-Dakka, Iyad F. Assad, Francisco Valero, Vicente Mata:
Parallel-Populations Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots. ICIRA (1) 2011: 83-92
Coauthor Index
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