Andrea CHERUBINI

Bâtiment : 5 R+1 Sud

Bureau : 02/067

Téléphone : 04 67 41 86 89

Fax : 04 67 41 85 00

Email : Andrea.Cherubini@lirmm.fr

Statut : Permanent

I received the « Laurea » degree (MSc) in Mechanical Engineering in 2001 from the University of Rome « La Sapienza » and a second MSc in Control Systems in 2003 from the University of Sheffield, U.K. From 2004 to 2007, I was a PhD student at « La Sapienza », under the supervision of Prof. Giuseppe Oriolo. From 2007 to 2011, I worked as post-doctoral researcher with Dr. François Chaumette, at INRIA Rennes. Since 2011, I am Associate Professor at Université de Montpellier, and researcher at LIRMM.

At the beginning of my PhD, I designed the BCI-based robot navigation system for ASPICE, a project for assisiting neuromotor disabled persons to improve or recover their mobility and communication. As part of my PhD, I also developed machine learning algorithms for the SPQR Legged Team at the Robocup in 2004-2006. During my postdoc, I developed a visual path following controller, and a new framework for urban visual navigation with obstacle avoidance.

Currently, I am working on physical human-robot interaction within the IDH team. In particular, I focus on multimodal (vision- and force-based) methods for enabling safe interaction between robot and human. This research is targeted by the projects H2020 VERSATILE, CoBot@LR and ANR SISCOB, all of which I manage as Principal Investigator at LIRMM. Multimodal control has also inspired two workshops, at IROS15 and IROS16, for which I was the main organiser. I have been Special Issue Guest Editor for the journals RAS and IJHR, and Associate Editor for IROS from 2014 to 2017 and for ICRA 2018.

At the Université de Montpellier, I am responsible, since 2015, of the Robotics Master Course.

From October 2017 to September 2018, I am visiting the Queensland University of Technology in Brisbane.

Submissions

[S5] D. J. Agravante, A. Cherubini, A. Sherikov, P-B. Wieber, A. Kheddar. Human-Humanoid Collaborative Carrying. Submitted to IEEE Trans. on Robotics.
[S4] A. Khelloufi, N. Achour, R. Passama, A. Cherubini. Sensor-based Navigation of Omnidirectional Robots Dealing with both Collisions and Occlusions in Unknown Environments. Submitted to IEEE Trans. on Robotics.
[S3] B. Navarro, A. Fonte, P. Fraisse, G. Poisson, A. Cherubini. OpenPHRI: an open-source library for safe physical human-robot interaction. Submitted to IEEE RAS Robotics and Automation Magazine, Special Issue on Human-robot collaboration for production environments.
[S2] M. Sorour, A. Cherubini, A. Khelloufi, R. Passama, P. Fraisse. Complementary-Route Based ICR Control for Steerable Wheeled Mobile Robots. Submitted to IEEE Trans. on Robotics.
[S1] Z. Abderrahmane, G. Ganesh, A. Crosnier, A. Cherubini. Haptic Zero-Shot Learning: Recognition of Objects Never Touched Before. Submitted to Robotics and Autonomous Systems.

Academic Journals

[J14] A. Paolillo, P. Gergondet, A. Cherubini, M. Vendittelli, A. Kheddar. Autonomous car driving by a humanoid robot. Journal of Field Robotics (to appear).
[J13] G. Morone, S. Paolucci, A. Cherubini, D. De Angelis, V. Venturiero, P. Coiro, M. Iosa. Robot-assisted gait training for stroke patients: current state of the art and perspectives. Neuropsychiatric Disease and Treatment, vol. 13, pp. 1303—1311, 2017.
[J12] M. Sorour, A. Cherubini, R. Passama, P. Fraisse. Motion Discontinuity-Robust Controller for Steerable Mobile Robots.  IEEE Robotics and Automation Letters, 2 (2), pp. 452-459, 2017.
[J11] W. Tigra, B. Navarro, A. Cherubini, X. Gorron, A. Gelis, C. Fattal, D. Guiraud, C. Azevedo Coste. A novel EMG interface for individuals with quadriplegia to pilot robot hand grasping. IEEE Transactions on Neural Systems & Rehabilitation, September 2016 .
[J10] A. Cherubini, R. Passama, A. Crosnier, A. Lasnier, P. Fraisse. Collaborative manufacturing with physical human-robot interaction. Robotics and Computer Integrated Manufacturing, vol. 40, Pages 1–13, August 2016.
[J9] M. Iosa, G. Morone, A. Cherubini, S. Paolucci. The three laws of Neurorobotics: a review on what neurorehabilitation robots should do for patients and clinicians. Journal of Medical and Biological Engineering, First Online, February 2016.
[J8] A. Cherubini, R. Passama, P. Fraisse, A. Crosnier. A unified multimodal control framework for human-robot interaction. Robotics and Autonomous Systems, 70, pp. 106-115, 2015.
[J7] A. Cherubini, F. Spindler, F. Chaumette. Autonomous Visual navigation and Laser-based moving obstacle avoidance. IEEE Trans. on Int. Transportation Systems, 15 (5), pp. 2101 - 2110, 2014.
[J6] A. Cherubini, F. Chaumette. Visual navigation of a mobile robot with laser-based collision avoidance. Int. Journal of Robotics Research, 32 (2):189-209, 2013.
[J5] A. Cherubini, F. Chaumette, G. Oriolo. Visual servoing for path reaching with nonholonomic robots. Robotica, 29 (7):1037-1048, 2011.
[J4] A. Cherubini, F. Giannone, L. Iocchi, D. Nardi, P.F. Palamara. Policy gradient learning for quadruped soccer robots. Robotics and Autonomous Systems, Special Issue on Advances in Autonomous Robots for Service and Entertainment, 58 (7): 872-878, 2010.
[J3] A. Cherubini, F. Giannone, L. Iocchi, M. Lombardo, G. Oriolo. Policy gradient learning for a humanoid soccer robot. Robotics and Autonomous Systems, 57 (8):808-818, 2009.
[J2] F. Cincotti, D. Mattia, F. Aloise, S. Bufalari, G. Schalk, G. Oriolo, A. Cherubini, M.G. Marciani, F. Babiloni. Non-invasive Brain-Computer Interface system: towards its application as assistive technology. Brain Research Bulletin, 75 (6):796-803, 2008.
[J1] A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Cincotti, D. Mattia. A multimode navigation system for an assistive robotics project. Autonomous Robots, 25 (4):383-404, 2008.

International Conferences

[C36] B. Navarro, A. Cherubini, A. Fonte, G. Poisson, P. Fraisse. A Framework for intuitive collaboration with a mobile manipulator. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2017.
[C35] A. Khelloufi, A. Cherubini, N. Achour, R. Passama. Tentacle-based moving obstacle avoidance for omnidirectional robots with visibility constraints. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2017.
[C34] M. Ferro, A. Paolillo, A. Cherubini, M. Vendittelli. Omnidirectional humanoid navigation in cluttered environments based on optical flow information. In  IEEE-RAS Int. Conf. on Humanoid Robots, Humanoids 2016.
[C33] M. Sorour, A. Cherubini, R. Passama, P. Fraisse. Kinematic modeling and singularity treatment of steerable wheeled mobile robots with joint acceleration limits. IEEE Int. Conf. on Robotics and Automation, ICRA 2016.
[C32] B. Navarro, A. Cherubini, A. Fonte, R. Passama, G. Poisson, P. Fraisse. An ISO10218-compliant adaptive damping controller for safe Physical Human-Robot Interaction. IEEE Int. Conf. on Robotics and Automation, ICRA 2016.
[C31] D. J. Agravante, A. Sherikov, P-B. Wieber, A. Cherubini, A. Kheddar. Walking pattern generators designed for physical collaboration. IEEE Int. Conf. on Robotics and Automation, ICRA 2016.
[C30] D. Petit, P. Gergondet, A. Cherubini, A. Kheddar. An integrated framework for humanoid embodiment with a BCI. In IEEE Int. Conf. on Robotics and Automation, ICRA 2015.
[C29] D. Petit, P. Gergondet, A. Cherubini, M. Meilland, A. I. Comport, A. Kheddar. Navigation assistance for a BCI-controlled humanoid robot. In IEEE 4th Annual Int. Conf. on Cyber Technology in Automation, Control, and Intelligent Systems, CYBER 2014.
[C28] A. Paolillo, A. Cherubini, F. Keith, A. Kheddar, M. Vendittelli. Toward Autonomous Car Driving by a Humanoid Robot: A Sensor-Based Framework. In 14th IEEE-RAS Int. Conf. on Humanoid Robots, Humanoids 2014.
[C27] P. Gergondet, D. Petit, M. Meilland, A. Kheddar, A. I. Comport, A. Cherubini. Combining 3D SLAM and Visual Tracking to Reach and Retrieve Objects in Daily-Life Indoor Environments. In 11th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, URAI 2014.
[C26] V. Bonnet, N. Sylla, A. Cherubini, A. Gonzales, C. Azevedo Coste, P. Fraisse, G. Venture. Toward an affordable and user-friendly visual motion capture system. In 36th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society, EMBC 2014.
[C25] D. J. Agravante, A. Cherubini, A. Bussy, P. Gergondet, A. Kheddar. Collaborative Human-Humanoid Carrying Using Vision and Haptic Sensing. In IEEE Int. Conf. on Robotics and Automation, ICRA 2014.
[C24] D. J. Agravante, A. Cherubini, A. Kheddar. Using vision and haptic sensing for human-humanoid haptic joint actions. In 6th IEEE International Conference on Robotics, Automation and Mechatronics, CIS-RAM 2013.
[C23] C. Sprunk, G. D. Tipaldi, A. Cherubini, W. Burgard. Lidar-Based Teach-and-Repeat of Mobile Robot Trajectories. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13.
[C22] D. J. Agravante, A. Cherubini, A. Bussy, A. Kheddar. Human-Humanoid Joint Haptic Table Carrying Task with Height Stabilization Using Vision. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13.
[C21] A. Cherubini, R. Passama, A. Meline, A. Crosnier, P. Fraisse. Multimodal Control for Human-Robot Cooperation. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'13, JTCF Novel Technology Paper Award for Amusement culture finalist.
[C20] A. Cherubini, B. Grechanichenko, F. Spindler, F. Chaumette. Avoiding Moving Obstacles during Visual Navigation. In IEEE Int. Conf. on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, May 2013.
[C19] A. Cherubini, F. Spindler, F. Chaumette. A New Tentacles-based Technique for Avoiding Obstacles during Visual Navigation. In IEEE Int. Conf. on Robotics and Automation, ICRA 2012, Pages 4850-4855, Saint Paul, USA, May 2012.
[C18] A. Cherubini, F. Chaumette. Visual Navigation With Obstacle Avoidance. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, Pages 1593-1598, San Francisco, USA, September 2011.
[C17] A. Cherubini, F. Spindler, F. Chaumette. A Redundancy-Based Approach for Visual Navigation with Collision Avoidance. In IEEE Symp. on Computational Intelligence in Vehicles and Transportation Systems, CIVTS'11, Paris, April 2011.
[C16] A. Cherubini, F. Chaumette. A Redundancy-Based Approach for Obstacle Avoidance in Mobile Robot Navigation. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Taipei, Taiwan, October 2010.
[C15] A. Cherubini, F. Chaumette. Visual navigation with a time-independent varying reference. In IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, Pages 5968-5973, St Louis, USA, October 2009.
[C14] R. Tatsambon Fomena, H. Yoon, A. Cherubini, F. Chaumette, S. Hutchinson. Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System. In IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, Pages 5432-5437, St Louis, USA, October 2009.
[C13] A. Cherubini, M. Colafrancesco, G. Oriolo, L. Freda, F. Chaumette. Comparing appearance-based controllers for nonholonomic navigation from a visual memory. In ICRA 2009 Workshop on safe navigation in open and dynamic environments: application to autonomous vehicles, Kobe, Japan, May 2009.
[C12] A. Cherubini, M. Leonetti, L. Marchetti, A. De Luca, L. Iocchi, D. Nardi, G. Oriolo, M. Vendittelli. S.P.Q.R. Team Desctiption paper 2008. In RoboCup 2008 Proceedings, Standard Platform League - NAO Division, 2008.
[C11] A. Cherubini, F. Chaumette, G. Oriolo. A position-based visual servoing scheme for following paths with nonholonomic mobile robots. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2008, Pages 1648-1654, Nice, France, September 2008.
[C10] A. Cherubini, F. Chaumette, G. Oriolo. An image-based visual servoing scheme for following paths with nonholonomic mobile robots. In Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, Pages 108-113, Hanoi, Vietnam, December 2008.
[C9] A. Cherubini, F. Giannone, L. Iocchi. Layered learning for a soccer legged robot helped with a 3D simulator. In Int. Robocup Symposium, 2007.
[C8] A. Cherubini, F. Giannone, L. Iocchi, P.F. Palamara. An extended policy gradient algorithm for robot task learning. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, Pages 4121-4126, 2007.
[C7] F. Cincotti, F. Aloise, F. Bufalari, G. Schalk, G. Oriolo, A, Cherubini, F. Davide, F. Babiloni, M.G. Marciani, D. Mattia. Non Invasive Brain-Computer Interface System to Operate Assistive Devices. In IEEE Int. Conf. of the Engineering in Medicine and Biology Society, 2007.
[C6] A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Babiloni, F. Cincotti, D. Mattia. Development of a multimode navigation system for an assistive robotics project. In IEEE Int. Conf. on Robotics and Automation, ICRA 2007, 2007.
[C5] A. Cherubini, G. Oriolo, F. Macrì, F. Aloise, F. Cincotti, D. Mattia. A vision-based path planner/follower for an assistive robotics project. In 1st International Workshop on Robot Vision, VISAPP 2007, 2007.
[C4] F. Aloise, F. Cincotti, F. Babiloni, M.G. Marciani, D. Morelli, S. Paolucci, G. Oriolo, A. Cherubini, F. Sciarra, F. Mangiola, A. Melpignano, F. Davide, D. Mattia. ASPICE: an interface system for independent life. In Int. Conf. On Smart homes and health Telematica, 2006.
[C3] F. Aloise, F. Cincotti, F. amd Marciani, M.G. Babiloni, D. Morelli, S. Paolucci, G. Oriolo, A. Cherubini, F. Sciarra, F. Mangiola, A. Melpignano, F. Davide, D. Mattia. The ASPICE Project Inclusive design for the motor disabled. In Int. Working Conf. on Advanced Visual Interfaces, 2006.
[C2] F. Cincotti, F. Aloise, F. Babiloni, M.G. Marciani, D. Morelli, S. Paolucci, G. Oriolo, A. Cherubini, S. Bruscino, F. Sciarra, F. Mangiola, A. Melpignano, F. Davide, D. Mattia. Brain-Operated Assistive Devices: the ASPICE Project. In IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics, 2006.
[C1] L. Iocchi, D. Nardi, A. Cherubini, L. Marchetti, V.A. Ziparo. S.P.Q.R. + Sicilia Team Description paper 2005. In RoboCup 2005 Proceedings, 4-Legged League, 2005.

Miscellaneous

[M6] Z. Abderrahmane, G. Gowrishankar, A. Cherubini, A. Crosnier. Zero-Shot Object Recognition Based on Haptic Attributes. In ICRA Workshop The Robotic Sense of Touch, 2017.
[M5] A. Cherubini, P. Corke. Towards sensor-based manipulation of flexible objects. In ICRA Workshop on Sensor-Based Object Manipulation for Collaborative Assembly, 2017.
[M4] A. Cherubini, A. Crosnier, P. Fraisse, B. Navarro, R. Passama, M. Sorour. Research on cobotics at the LIRMM IDH group. In ICRA Workshop IC3 – Industry of the future: Collaborative, Connected, Cognitive, 2017.
[M3] B. Navarro, P. Kumar, A. Fonte, P. Fraisse, G. Poisson, A. Cherubini. Active calibration of tactile sensors mounted on a robotic hand. In IEEE/RSJ IROS Workshop on Multimodal sensor-based robot control for HRI and soft manipulation, 2015.
[M2] A. Cherubini, R. Passama, A. Meline, A. Crosnier, P. Fraisse, Sensor-based control of a collaborative robot. In 6th International Workshop on Human-Friendly Robotics, HFR, 2013.
[M1] D. J. Agravante, A. Cherubini, A. Kheddar, Visio-haptic control for Human-Humanoid Cooperative Carrying Tasks. In 6th International Workshop on Human-Friendly Robotics, HFR 2013.

Theses

[T2] A. Cherubini. Multimodal sensor-based control for human-robot interaction. HDR Thesis, Université de Montpellier, December 2016.
[T1] A. Cherubini. Vision-based techniques for following paths with mobile robots. PhD Thesis, D.I.S. Università di Roma "La Sapienza'', April 2008.

Mots-clés

visual servoing, physical human-robot interaction, humanoid robotics, multimodal sensor-based control, visual navigation, BCI controlled robots, reactive obstacle avoidance, robot learning

Dernière mise à jour le 31/10/2017