Publications

Publication list for Christian Smith

if you are interested in a copy of my publications.

My publications on Google Scholar

Reviewed Journal Papers

1. Nauman Masud, Sajid Rafique, Christian Smith, Magnus Isaksson.
   "Design control and actuator selection of a lower body assistive exoskeleton with 3‑D passive compliant supports", Journal of the Brazilian Society of Mechanical Sciences and Engineering, 45, 611 (2023).
   SpringerLink
    
2. Matteo Iovino, Edvards Scukins, Jonathan Styrud, Petter Ögren, and Christian Smith
   "A survey of Behavior Trees in robotics and AI".
   Robotics and Autonomous Systems, 2022
   Paper online, BibTeX
    
3. Yixing Liu, Longbin Zhang, Ruoli Wang, Christian Smith, Elena M. Gutierrez Farewik
   Weight Distribution of a Knee Exoskeleton Influences Muscle Activities during Movements.
   in IEEE Access, DOI: 10.1109/ACCESS.2021.3091649, 2021
   Paper online
    

4. Longbin Zhang, Yixing Liu, Ruoli Wang, Christian Smith, Elena M. Gutierrez Farewik
   Modeling and Simulation of a Human Knee Exoskeleton's Assistive Strategies and Interaction
   in Frontiers in Neurorobotics, vol 15, p.13-, 2021, doi:10.3389/fnbot.2021.620928
   Paper online, BibTeX

5. Nauman Masud, Dario Senkic, Christian Smith, Magnus Isaksson.
   Modeling and control of a 4-ADOF upper-body exoskeleton with mechanically decoupled 3-D compliant arm-supports for improved-pHRI.
   Mechatronics, Volume 73, February 2021
   Science Direct, BibTeX

6.  Longbin Zhang, Zhijun Li, Yingbai Hu, Christian Smith, Elena M. Gutierrez Farewik, Ruoli Wang
   Ankle Joint Torque Estimation Using an EMG-Driven Neuromusculoskeletal Model and an Artificial Neural Network Model
   in IEEE Transactions on Automation Science and Engineering, doi: 10.1109/TASE.2020.3033664.
   Paper online, BibTeX

7. Binbin Su, Christian Smith, and Elena Gutierrez Farewik.
   Gait Phase Recognition Using Deep Convolutional Neural Network with Inertial Measurement Units.
   Biosensors, Special Issue: Advanced Applications in Wearable Biosensors. 2020.
   Paper online. BibTex

8. Nauman Masud, Per Mattsson, Christian Smith, Magnus Isaksson.
   On stability and performance of disturbance observer-based-dynamic load torque compensator for assistive exoskeleton: A hybrid approach.

   Mechatronics, Volume 69, August 2020
   Science Direct, BibTeX

9. Rakesh Krishnan, Niclas Björsell, Elena M. Gutierrez-Farewik, and Christian Smith.
   A survey of human shoulder functional kinematic representations.
   Medical & Biological Engineering & Computing. Oct 26, 2018
   BibTeX, SpringerLink
    
10. Nauman Masud, Christian Smith, Magnus Isaksson
    Disturbance observer based dynamic load torque compensator for assistive exoskeletons.

    Mechatronics, Volume 54, October 2018, Pages 78-93
    ScienceDirect, BibTeX

11. Yuquan Wang, Christian Smith, Yiannis Karayiannidis, and Petter Ögren
    Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain
    International Journal of Humanoid Robotics Vol. 13, No. 01, 1550047 (2016)
    BibTeX
     
12. Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, and Danica Kragic.
    An Adaptive Control Approach for Opening Doors and Drawers Under Uncertainties.
    IEEE Transactions on Robotics, Vol 32:1, pp 161-175, 2016
    BibTeX IEEExplore
     
13. Christian Smith, Yiannis Karayiannidis, Lazaros Nalpantidis, Xavi Gratal, Peng Qi, Dimos Dimarogonas, and Danica Kragic.
    Dual Arm Manipulation - a Survey.
    Robotics and Autonomous Systems, Vol 60, no 10, pp. 1340-1353, 2012
    abstract bibTeX ScienceDirect preprint (DIVA)
     
14. Christian Smith and Patric Jensfelt .
    A Predictor for Operator Input for Time-Delayed Teleoperation
    Mechatronics, special issue on Design Control Methodology, Vol 20:7, pp. 778-786, Oct 2010
    bibTeX abstract ScienceDirect Preprint
     
15. Christian Smith and Henrik I Christensen.
    Robot Manipulators - Constructing a High Performance Robot from Commercially Available Parts
    IEEE/RAS Robotics and Automation Magazine, Vol 16:4, pp. 75-83, Dec 2009
    bibTeX abstract IEEExplore preprint
     
16. Noriaki Mitsunaga, Christian Smith, Takayuki Kanda, Hiroshi Ishiguro, and Norihiro Hagita.
    Adapting Robot Behavior for Human-Robot Interaction
    IEEE Transactions on Robotics, vol 24, issue 4, pp 911-916, Aug 2008.
    bibTeX abstract IEEExplore
     
17. Christian Smith, Mattias Bratt, and Henrik I Christensen.
    Teleoperation for a Ballcatching Task with Significant Dynamics
    Neural Networks, Special Issue on Robotics and Neuroscience, vol 24, issue 4, pp. 604-620, May 2008.
    bibTeX abstract Science Direct Pre-print
     
18. Noriaki Mitsunaga, Christian Smith, Takayuki Kanda, Hiroshi Ishiguro, and Norihiro Hagita.
    Robot Behavior Adaptation for Human-Robot Interaction based on Policy Gradient Reinforcement Learning (in Japanese)
    Journal of the Robotics Society of Japan, vol. 24, no. 7, pp.820-829, 2006.
    bibTeX abstract pdf

Book Chapters

1. Noriaki Mitsunaga, Christian Smith, Takayuki Kanda, Hiroshi Ishiguro, and Norihiro Hagita.
   Adapting Nonverbal Behavior Parameters to be Preferred by Individuals
   in "Human-Robot Interaction in Social Robotics", T. Kanda and H. Ishiguro
   CRC Press, 2012. ISBN 978-1466506978. pp 312-324
   bibTeX

 

Reviewed Conference Papers

1. Matteo Iovino, Jonathan Styrud, Pietro Falco, Christian Smith"A Framework for Learning Behavior Trees in Collaborative Robotic Applications", IEEE International Conference on Automation Science and Engineering (CASE), Auckland, New Zealand, Aug 2023.
   arXive
2. Parag Khanna, Elmira Yadollahi, Mårten Björkman, Iolanda Leite, Christian Smith, "Effects of Explanation Strategies to Resolve Failures in Human-Robot Collaboration", Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, Korea 2023, pages 1829-1836.
   IEEExplore
3. Parag Khanna, Mårten Björkman, Christian Smith, "A Multimodal Data Set of Human Handovers with Design Implications for Human-Robot Handovers", Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, Korea 2023, pages 1843-1850.
   IEEExplore
4. Parag Khanna, Elmira Yadollahi, Iolanda Leite, Mårten Björkman, Christian Smith, "How do Humans take an Object from a Robot: Behavior changes observed in a User Study", Proceedings of the 11th International Conference on Human-Agent Gothenburg, Sweden, 2023, Pages 372-374
   Best Poster Award.
5. Nona Rajabi, Parag Khanna, Sumeyra U Demir Kanik, Elmira Yadollahi, Miguel Vasco, Mårten Björkman, Christian Smith, Danica Kragic, "Detecting the Intention of Object Handover in Human-Robot Collaborations: An EEG Study", Proceedings of the 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, Korea 2023, Pages 549-555
   IEEExplore
6. Matteo Iovino, Julian Förster, Pietro Falco, Jen Jen Chung, Roland Siegwart, Christian Smith, "On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications", 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 5807-5813.
   IEExplore
7. Matteo Iovino, Irmak Dogan, Iolanda Leite, Christian Smith, "Interactive Disambiguation for Behavior Tree Execution". 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids2022)
   Ginowan, Japan, 2022
   ArXiv, bibTeX, IEEExplore
8. Parag Khanna, Mårten Björkman, Christian Smith, "Human Inspired Grip-Release Technique for Robot-Human Handovers". 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids2022)
   Ginowan, Japan, 2022
   bibTeX, IEEExplore
9. Oscar Gustavsson, Matteo Iovino, Jonathan Styrud, Christian Smith
   "Combining Context Awareness and Planning to Learn Behavior Trees from Demonstration". IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022
   bibTeX, arXive
10. Jonathan Styrud, Matteo Iovino, Mikael Norrlöf, Mårten Björkman, Christian Smith"Combining planning and learning of behavior trees for robotic assembly"2022 International Conference on Robotics and Automation (ICRA), 11511-11517
    IEEXplore, bibTeX
11. Matteo Iovino, Jonathan Styrud, Pietro Falco, Christian Smith, "Learning behavior trees with genetic programming in unpredictable environments". IEEE International Conference on Robotics and Automation, ICRA2021.
    Xi'an, China, May 2021, pp 4591-4597
    arXive, IEEEXplore, bibTeX
12. S. Cruciani, K. Hang, C. Smith and D. Kragic, "Dual-Arm In-Hand Manipulation Using Visual Feedback", IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), Toronto, Canada, 2019, pp. 411-418.
    Best Oral Paper Award finalist. Mike Stilman Award finalist.
    bibTeX, IEEXplore
13. Silvia Cruciani and Christian Smith
    Integrating Path Planning and Pivoting
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 1-5 October 2018, Madrid, Spain
    bibTeX, IEEEXplore
14. Silvia Cruciani, Christian Smith, Danica Kragic, and Kaiyu Hang.
    Dexterous Manipulation Graphs
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), 1-5 October 2018, Madrid, Spain
    bibTeX, arXive
15. Rakesh Krishnan, Silvia Cruciani, Elena M. Gutierrez-Farewik, Niclas Björsell, and Christian Smith
    Reliably Segmenting Motion Reversals of a Rigid-IMU Cluster Using Screw-Based Invariants
    2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)
    2018, Beijing, China
    IEEEXplore
16. Silvia Cruciani and Christian Smith
    In-Hand Manipulation Using Three-Stages Open Loop Pivoting
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 25-27 September 2017, Vancouver, Canada
    bibTeX IEEExplore
17. Rakesh Krishnan, Niclas Björsell, and Christian Smith
    Segmenting Humeral Submovements using Invariant Geometric Signatures
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 25-27 September 2017, Vancouver, Canada
    bibTeX IEEExplore
18. Rakesh Krishnan, Niclas Björsell, and Christian Smith
    Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 9-14 October 2016, Daejeon, Korea
    BibTeX IEEEXplore
19. Kaiyu Hang, Joshua A. Haustein, Miao Li, Aude Billard, Christian Smith and Danica Kragic
    On the Evolution of Fingertip Grasping Manifolds
    2016 IEEE International Conference on Robotics and Automation, May 18, 2016 Stockholm, Sweden. pp 2022-2029
    BibTeX IEEExplore
20. Francisco Viña,  Yiannis Karayiannidis, Christian Smith, and Danica Kragic.
    Adaptive Control for Pivoting with Visual and Tactile Feedback
    2016 IEEE International Conference on Robotics and Automation, May 17, 2016 Stockholm, Sweden. pp 399-406
    bibTeX abstract preprint
21. Yuquan Wang, Christian Smith, Yiannis Karayiannidis, and Petter Ögren
    Cooperative Control of a Serial-To-Parallel Structure Using a Virtual Kinematic Chain in a Mobile Dual-Arm Manipulation Application.
    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 30, 2015 Hamburg, Germany. pp 2372-2379
    bibTeX abstract preprint
22. Francisco Viña,  Yiannis Karayiannidis, Karl Pauwels, Christian Smith, and Danica Kragic. In-Hand Manipulation Using Gravity and Controlled Slip
    2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 30, 2015 Hamburg, Germany. pp 5636-5641 
    bibTeX abstract preprint
23. Yiannis Karayiannidis, Christian Smith, and Danica Kragic.
    Mapping Human Intentions to Robot Motions via Physical Interaction Through a Jointly-held Object.
    The 23rd IEEE International Symposium on Robot and Human Interactive Communication, Edinburgh, Scotland, UK, Aug 25-29, 2014.
    bibTeX abstract preprint
24. Yuquan Wang, Francisco Viña, Yiannis Karayiannidis, Christian Smith, and Petter Ögren
    Dual Arm Manipulation using Constraint Based Programming.
    IFAC World Congress, Cape Town, South Africa, Aug 24-29, 2014
    bibTeX abstract preprint
25. Yiannis Karayiannidis, Christian Smith, Francisco Viña, and Danica Kragic.
    Online Contact Point Estimation for Uncalibrated Tool Use.
    IEEE International Conference on Robots and Automation (ICRA 2014), Hong Kong, China, pp 2488-2493
    bibTeX abstract preprint
26. Alejandro Marzinotto, Michele Colledanchise, Christian Smith, and Petter Ögren.
    Towards a Unified Behavior Trees Framework for Robot Control.
    IEEE International Conference on Robots and Automation (ICRA 2014), Hong Kong, China, pp 5420-5427
    bibTeX abstract preprint
27. Yiannis Karayiannidis, Christian Smith, Francisco Viña, and Danica Kragic.
    Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects .
    2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, November 3-7, 2013 Tokyo, Japan. pp 4872-4878
    bibTeX abstract preprint
28. Francisco Viña, Yasemin Bekiroglou, Christian Smith, Yiannis Karayiannidis, and Danica Kragic.
    Predicting Slippage and Learning Manipulation Affordances through Gaussian Process Regression .
    IEEE-RAS International Conference on Humanoid Robots, Oct 15-17, 2013, Atlanta. pp 462-468
    bibTeX abstract preprint
29. Xavi Gratal, Christian Smith, Mårten Björkman, and Danica Kragic.
    Integrating 3D Features and Virtual Visual Servoing for Hand-Eye and Humanoid Robot Pose Estimation .
    IEEE-RAS International Conference on Humanoid Robots, Oct 15-17, 2013, Atlanta. pp 240-245
    bibTeX abstract preprint
30. Chao Shi, Masahiro Shiomi, Christian Smith, Takayuki Kanda, and Hiroshi Ishiguro
    A model of distributional handing interaction for a mobile robot.
    Robotics Science and Systems, RSS2013, Berlin, Germany.
    Abstract bibTeX PDF
31. Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, and Danica Kragic.
    Model-free robot manipulation of doors and drawers by means of fixed-grasps.
    IEEE International Conference on Robots and Automation (ICRA 2013), Karlsruhe, Germany, pp 4470-4477
    bibTeX abstract preprint
32. Chao Shi, Masahiro Shiomi, Christian Smith, Takayuki Kanda, and Hiroshi Ishiguro
    街角の歩行者にチラシを配るロボット
    31st Annual Conference of the Robotics Society of Japan (RSJ2013) 1G3-07, September 2013.
    Abstract bibTeX
33. Chao Shi, Masahiro Shiomi, Christian Smith, Takayuki Kanda, and Hiroshi Ishiguro
    A model of handing interaction towards a pedestrian
    Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction (HRI'13) pp. 415-416
    Abstract bibTeX PDF
34. Christian Smith and Yiannis Karayiannidis.
    Optimal Command Ordering for Serial Link Manipulators
    IEEE-RAS International Conference on Humanoid Robots, Nov 29 - Dec 1, 2012, Osaka. pp 255-261
    bibTeX abstract preprint
35. Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, and Danica Kragic.
    "Open Sesame!" - Adaptive Force/Velocity Control for Opening Unknown Doors.
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 7-12, 2012 Vilamoura, Portugal, pp. 4040-4047
    Finalist for "Best Application Paper"
    abstract bibTeX preprint video
36. Yiannis Karayiannidis, Christian Smith, Petter Ögren, and Danica Kragic.
    Adaptive Force/Velocity Control for Opening Unknown Doors.
    IFAC Symposium on Robot Control, Syroco 5-7 Sep. 2012, Dubrovnik, Croatia.
    bibTeX abstract preprint
37. Petter Ögren, Christian Smith, Yiannis Karayiannidis, and Danica Kragic.
    A Multi Objective Control approach to Online Dual Arm Manipulation.
    IFAC Symposium on Robot Control, Syroco 5-7 Sep. 2012, Dubrovnik, Croatia.
    bibTeX abstract preprint
38. Christian Smith and Henrik I Christensen.
    A Minimum Jerk Predictor for Teleoperation with Variable Time Delay
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). pp 5621-5627, 2009
    bibTeX abstract Preprint
39. Christian Smith and Henrik I Christensen.
    Wiimote Robot Control Using Human Motion Models
    IEEE International Conference on Intelligent Robots and Systems(IROS 2009). pp 5509-5515, 2009
    bibTeX abstract Preprint Video
40. Mattias Bratt, Christian Smith and Henrik I Christensen.
    Minimum Jerk Based Prediction of User Actions for a Ball Catching Task
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007). pp 2710-2716, 2007
    bibTeX abstract IEEExplore
41. Christian Smith and Henrik I Christensen.
    Using COTS to Construct a High Performance Robot Arm
    IEEE International Conference on Robots and Automation (ICRA 2007). pp 4056-4063
    bibTeX abstract pdf
42. Mattias Bratt, Christian Smith and Henrik I Christensen.
    Design of a Control Strategy for Teleoperation of a Platform with Significant Dynamics
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006). pp 1700-1705, 2006
    bibTeX abstract pdf
43. Noriaki Mitsunaga, Christian Smith, Takayuki Kanda, Hiroshi Ishiguro, and Norihiro Hagita.
    Robot Behavior Adaptation for Human-Robot Interaction based on Policy Gradient Reinforcement Learning
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005) pp. 1594-1601, 2005.
    bibTeX abstract pdf
44. Christian Smith, Noriaki Mitsunaga, Takayuki Kanda, Hiroshi Ishiguro, and Norihiro Hagita
    Adaptation of an Interactive Robot's Behavior Using Policy Gradient Reinforcement Learning
    Proceedings of the 10th Robotics Symposia (RSJ) pp. 319-324, 2005.
    bibTeX abstract

Invited Talks

1. The Second Korea-Sweden Workshop on Intelligent Systems for Societal Changes of the 21st century.
   November 16-17, 2006. Seoul, Korea
   poster

Thesis

1. Christian Smith.
   Input Estimation for Teleoperation
   PhD Thesis, Royal Institute of Technology 2009
   bibTeX abstract pdf
2. Christian Smith.
   Behavior Adaptation for a Socially Interactive Robot
   Master's Thesis, Royal Institute of Technology 2005
   bibTeX abstract PDF
    

Other (Workshops, arXiv, etc.)

1. Parag Khanna, Mårten Björkman, Christian Smith, "Data-driven Grip Force Variation in Robot-Human Handovers". Workshop on Advances in Close-Proximity Human-Robot Collaborations, in 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids2022)
   Ginowan, Japan, 2022
2. Matteo Iovino, Christian Smith, "Behavior Trees for Robust Task Level Control in Robotic Applications". Workshop on Development and Design Pipelines – from First Ideas to Well-Functioning Robots, in 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids2022)
   Ginowan, Japan, 2022
   ArXiv
3. Adalbjörg Adalbjörnsdottir , Gudmundur Hallgrimsson, Jeanette Melin, Gaetana Sapienza, Mohammadali Honarpardaz, Christian Smith, and Aina Iversen. "Case study evaluating the use of collaborative robots as support in a microbiological laboratory". Poster presentation at Mikrobiologiskt Vårmöte in Karlstad, Sweden. May 2018.
4. S. Cruciani, K. Hang, C. Smith and D. Kragic, Planning In-Hand Manipulation: Dexterous Manipulation Graphs in the IROS 2018 workshop: Examining Sensing Modalities for Robust and Dexterous Object Manipulation. abstract, poster
5. Silvia Cruciani, Christian Smith. Pivoting Objects with a Parallel Gripper Using Controlled Slip and Inertial Forces. Workshop: "Frontiers in Contact-rich Robotic Interaction: Modeling, Optimization and Control Synthesis" Workshop at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 28 September 2017, Vancouver, Canada.
6. Rika Antonova, Silvia Cruciani, Christian Smith, Danica Kragic. Reinforcement Learning for Pivoting Task arXiv preprint arXiv:1703.00472, March 2017
   arXiv
7. Francisco Viña, Christian Smith, Danica Kragic, and Yiannis Karayiannidis.
   Adaptive Contact Point Estimation for Autonomous Tool Manipulation.
   Autonomous Grasping and Manipulation Workshop
   at the IEEE International Conference on Robots and Automation, Hong Kong, China, 2014.
8. Yuquan Wang, Francisco Viña, Yiannis Karayiannidis, Christian Smith, and Petter Ögren
   Dual Arm Manipulation using Constraint Based Programming.
   Workshop on Motion Planning for Industrial Robots,
   at 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, June 5, 2014.
9. Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, and Danica Kragic.
   Interactive perception and manipulation of unknown constrained mechanisms using adaptive control.
   ICRA 2013 Mobile Manipulation Workshop on Interactive Perception,
   at the IEEE International Conference on Robots and Automation, Karlsruhe, Germany, 2013.
   bibTeX abstract
10. Yiannis Karayiannidis, Christian Smith, Francisco Viña, Petter Ögren, and Danica Kragic.
    Design of force-driven online motion plans for door opening under uncertainties.
    Workshop on Real-time Motion Planning: Online, Reactive, and in Real-time,
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 12, 2012 Vilamoura, Portugal
    bibTeX abstract
11. Christian Smith
    An Input Predictor for Time-Delayed Teleoperation
    The Fourth Swedish Workshop on Autonomus Robotics (SWAR09) 2009
    September 8, 2009. Västerås, Sweden
    Extended abstract
12. Bibliometry - a Pseudoscience?
    Paper done for coursework in FDD3001: Research - Theory, Method, Practice
    December, 2008
    report