Fares J. Abu-Dakka - Publications

2025

Journals

Gokhan Alcan, Fares J Abu-Dakka, Ville Kyrki. “Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming”. In: Systems & Control Letters, vol. 204, pp. 106220, 2025. [DOI].

Conferences

Matteo Dalle Vedove, Fares J. Abu-Dakka, Luigi Palopoli, Daniele Fontanelli, Matteo Saveriano, ‘MeshDMP: Motion Planning on Discrete Manifolds Using Dynamic Movement Primitives,’ IEEE International Conference on Robotics and Automation (ICRA), 2025, Atlanta, GA, USA. [DOI]
Peter So, Abdalla Swikir, Fares J. Abu-Dakka, Sami Haddadin, ‘Evaluating Human-Robot Skill Gaps in Electrical Circuit Inspection: A New Electronic Task Board for Benchmarking Manipulation,’ IEEE International Conference on Robotics and Automation (ICRA), 2025, Atlanta, GA, USA. [DOI]

2024

Journals

Fares J Abu-Dakka, Matteo Saveriano, Luka Peternel. “Learning periodic skills for robotic manipulation: Insights on orientation and impedance”. In: Neurocomputing, vol. 180, pp. 104763, 2024. [DOI].
Fares J Abu-Dakka, Matteo Saveriano, Ville Kyrki. “A unified formulation of geometry-aware discrete dynamic movement primitives”. In: Neurocomputing, vol. 598, pp. 128056, 2024. [DOI].
Sara Omari, Adil Omari, Fares Abu-Dakka, Mohamed Abderrahim. “EEG Motor Imagery Classification: Tangent Space with Gate-Generated Weight Classifier”. In: Biomimetics, vol. 9(8), pp. 459, 2024. [DOI].
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”. In: Information Fusion, vol. 108, pp. 102379, 2024. [DOI].
Akhil S Anand, Rituraj Kaushik, Jan Tommy Gravdahl, Fares J. Abu-Dakka. “Data-Efficient Reinforcement Learning for Variable Impedance Control”. In: IEEE Access, vol. 12, pp. 15631 - 15641, 2024. [DOI].
Peter So, Andriy Sarabakha, Fan Wu, Utku Culha, Fares J Abu-Dakka, Sami Haddadin. “Digital Robot Judge: Building a Task-centric Performance Database of Real-World Manipulation With Electronic Task Boards”. In: IEEE Robotics & Automation Magazine, vol. xx(xx), pp. 2-14, 2024. [DOI].

Conferences

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,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Abu Dhabi, UAE. [DOI]
Gorka Sarabia, Alberto Izaguirre, Xabier Elkorobarrutia, Virginia Ruiz Garate, Fares Abu-Dakka, Imanol Andonegui, ‘Visual servoing based dynamic groove following with an industrial robot,’ IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, Bari, Italy. [DOI]
Zheng Shen, Matteo Saveriano, Fares J Abu-Dakka, Sami Haddadin, ‘Safe execution of learned orientation skills with conic control barrier functions,’ IEEE International Conference on Robotics and Automation (ICRA), 2024, Yokohama, Japan. [DOI]
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,’ IEEE International Conference on Robotics and Automation (ICRA), 2024, Yokohama, Japan. [DOI]
Yansong Wu, Fan Wu, Lingyun Chen, Kejia Chen, Samuel Schneider, Lars Johannsmeier, Zhenshan Bing, Fares Abu-Dakka, Alois Knoll, Sami Haddadin, ‘1 kHz Behavior Tree for Self-adaptable Tactile Insertion,’ IEEE International Conference on Robotics and Automation (ICRA), 2024, Yokohama, Japan. [DOI]

2023

Journals

Akhil S Anand, Jan Tommy Gravdahl, Fares J. Abu-Dakka. “Model-based variable impedance learning control for robotic manipulation”. In: Robotics and Autonomous Systems, vol. 170, pp. 104531, 2023. [DOI][video].
Matteo Saveriano, Fares J. Abu-Dakka, Ville Kyrki. “Learning stable robotic skills on Riemannian manifolds”. In: Robotics and Autonomous Systems, vol. 169, pp. 104510, 2023. [DOI][video].
Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka. “Geometric Reinforcement Learning For Robotic Manipulation”. In: IEEE Access, vol. 11, pp. 111492 - 111505, 2023. [DOI][video].
Matteo Saveriano, Fares J. Abu-Dakka, Aljaž Kramberger, Luka Peternel. “Dynamic movement primitives in robotics: A tutorial survey”. In: The International Journal of Robotics Research, vol. 42(13), pp. 1133-1184, 2023. [DOI].

Conferences

David Blanco Mulero, Gökhan Alcan, Fares J. Abu-Dakka, Ville Kyrki, ‘QDP: Learning to Sequentially Optimise Quasi-Static and Dynamic Manipulation Primitives for Robotic Cloth Manipulation,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Detroit, MI, USA. [DOI][website]
Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, Dongheui Lee, ‘Orientation Control with Variable Stiffness Dynamical Systems,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Detroit, MI, USA. [DOI]
Tran Nguyen Le, Fares J. Abu-Dakka, Ville Kyrki, ‘SPONGE: Sequence Planning with Deformable-ON-Rigid Contact Prediction from Geometric Features,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, Detroit, MI, USA. [DOI][video]
Naseem Alhousani, Hatice Kose, Fares J. Abu-Dakka, ‘Reinforcement Learning for Orientation on the Lie Algebra,’ 31st Signal Processing and Communications Applications Conference (SIU), 2023, Istanbul, Turkiye. [DOI]

2022

Journals

Weitao Wang, Matteo Saveriano, Fares J. Abu-Dakka. “Learning Deep Robotic Skills on Riemannian Manifolds”. In: IEEE Access, vol. 10, pp. 114143-114152, 2022. [DOI][video].
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki. “Deformation-aware data-driven grasp synthesis”. In: IEEE Robotics and Automation Letters, vol. 7(2), pp. 3038-3045, 2022. [DOI][video].
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”. In: IEEE Robotics and Automation Letters, vol. 7(2), pp. 2186-2193, 2022. [DOI][video].

Conferences

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,’ 21st IEEE International Conference on Machine Learning and Applications (ICMLA), 2022, Nassau, Bahamas. [DOI]
Tran Nguyen Le, Jens Lundell, Fares J. Abu-Dakka, Ville Kyrki, ‘A novel simulation-based quality metric for evaluating grasps on 3d deformable objects,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, Kyoto, Japan. [DOI][video]

2021

Journals

Fares J. Abu-Dakka, Yanlong Huang, J. Silvério, and Ville Kyrki. “A Probabilistic Framework for Learning Geometry-Based Robot Manipulation Skills”. In: Robotics and Autonomous Systems, vol. 141, 2021. [DOI][video].
Markku Suomalainen, Fares J. Abu-Dakka, and Ville Kyrki. “Imitation learning-based framework for learning 6-D linear compliant motions”. In: Autonomous Robots, vol. 45, pp. 389–405, 2021. [DOI].
Tran Nguyen Le, Francesco Verdoja, Fares J. Abu-Dakka, and Ville Kyrki. “Probabilistic Surface Friction Estimation Based on Visual and Haptic Measurements”. In: IEEE Robotics and Automation Letters, vol. 6(2), pp. 2838–2845, 2021. [DOI][video].
Haihang Wang, Fares J. Abu-Dakka, Tran Nguyen Le, Ville Kyrki, and He Xu. “A Novel Soft Robotic Hand Design With Human-Inspired Soft Palm: Achieving a Great Diversity of Grasps”. In: IEEE Robotics & Automation Magazine, vol. 28(2), 2021. [DOI][video].

Conferences

Fares J. Abu-Dakka, Matteo Saveriano, Luka Peternel, ‘Periodic DMP formulation for Quaternion Trajectories,’ IEEE International Conference on Advanced Robotics (ICAR), 2021, Ljubljana, Slovenia. [DOI]

2020

Journals

Fares J. Abu-Dakka, Matteo Saveriano, ‘Variable impedance control and learning -- A review,’ Frontiers in Robotics and AI, 2020. [DOI]
Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell, ‘Towards Orientation Learning and Adaptation in Cartesian Space,’ IEEE Transactions on Robotics, 2020, [page]
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, vol. 20(21), pp. 6215, 2020. [DOI]

Conferences

Fares J. Abu-Dakka, Ville Kyrki, ‘Geometry-aware Dynamic Movement primitives,’ IEEE Conference on Robotics Automation (ICRA), 2020, Paris, France. [DOI]

2019

Conferences

João Silvério, Yanlong Huang, Fares J. Abu-Dakka, Leonel Rozo, Darwin G. Caldwell, ‘Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, Macau, China. [DOI]
Yanlong Huang, Fares J. Abu-Dakka, João Silvério, Darwin G. Caldwell, ‘Generalized Orientation Learning in Robot Task Space,’ IEEE Conference on Robotics Automation (ICRA), 2019, Montréal, Canada. [DOI]

2018

Journals

Fares J. Abu-Dakka, Leonel Rozo, Darwin G. Caldwell. ‘Force-based Variable Impedance Learning for Robotic Manipulation,’ Robotics and Autonomous Systems, vol. 109, pp. 156–167, 2018. [DOI][video][code]
J.C. Escalera, Fares J. Abu-Dakka, M. Abderrahim. ‘Symbolic geometric modelling of tree-structure robotic mechanisms using lie groups and graph theory,’ Asian Journal of Control, 20 (6), 2088-2100, 2018. [DOI]
Pablo J. Alhama Blanco, Fares J. Abu-Dakka, M. Abderrahim. ‘Practical Use of Robot Manipulators as Intelligent Manufacturing Systems,’ Sensors, 18(9):2877, 2018. [DOI]

Conferences

Fares J. Abu-Dakka, Leonel Rozo, Darwin G. Caldwell, ‘Force-Based Learning of Variable Impedance Skills for Robotic Manipulation,’ IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2018, Beijing, China. [DOI]

2017

Journals

Fares J. Abu-Dakka, Iyad F. Assad, Rasha M. Alkhdour, M. Abderrahim. ‘Statistical evaluation of an evolutionary algorithm for minimum time trajectory planning problem for industrial robots,’ International Journal of Advanced Manufacturing Technology, 89(1-4), 2017. [DOI]

Conferences

Fares J. Abu-Dakka, Miguel Díaz-Rodríguez. ‘Comparison of Trajectory Parametrization Methods with Statistical Analysis for Dynamic Parameter Identification of Serial Robot,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [DOI]

Older papers

Peer-reviewed Journal Paper:

Fares J. Abu-Dakka, Bojan Nemec, Jimmy A. Jørgensen, Thiusius R. Savarimuthu, Norbert Krüger, Aleš Ude. ‘Adaptation of Manipulation Skills in Physical Contact with the Environment to Reference Force Profiles,’ Autonomous Robots, vol. 39(2), pp. 199–217, 2015. [DOI][Video 1, 2]
Fares J. Abu-Dakka, Francisco Valero, Vicente Mata. ‘A Direct Approach to Solving Trajectory Planning Problems Using Genetic Algorithms with Dynamics Considerations in Complex Environments,’ Robotica, vol. 33(3), 669--683, 2015. [DOI]
Fares J. Abu-Dakka, Bojan Nemec, Aljaž Kramberger, Anders Glent Buch, Norbert Krüger, Aleš Ude. ‘Solving peg-in-hole tasks by human demonstration and exception strategies,’ Industrial Robot: An International Journal. vol. 41(6), pp. 575–584, 2014. [DOI][Video].
Fares J. Abu-Dakka, Francisco Rubio, Francisco Valero, Vicente Mata. ‘Evolutionary Indirect Approach to Solving Trajectory Planning Problem for Industrial Robots Operating in Workspaces with Obstacles,’ European Journal of Mechanics - A/Solids, vol. 42, pp. 210–218, 2013. [DOI]
Francisco Rubio, Fares J. Abu-Dakka, Francisco Valero, Vicente Mata. ‘Comparing the efficiency of five algorithms applied to path planning for industrial robots,’ Industrial robot, vol. 39(6), pp. 580–591, 2012. Winner the Literati Network Awards for Excellence 2013. [DOI]
Fares J. Abu-Dakka, Francisco Valero, Vicente Mata. ‘Evolutionary Path Planning Algorithm for Industrial Robots,’ Advance Robotics, vol. 26(11–12), pp. 1369–1392, 2012. [DOI]
María Gil García, Sandra Alemany Mut, Beatriz Nacher Fernández, Miguel Pizá Padial, Juan Gómez Herrero, Fares Abu-Dakka, Ana Palanca Roig, Amparo Pomar Nadal. ‘Desarrollo de una metodología para la evaluación virtual del ajuste de cascos,’ Revista de biomecánica, ISSN 1575–6522, vol. 54, pp. 37–40, 2010.

Conferences Proceeding:

J.C. Escalera, Fares J. Abu-Dakka, M. Abderrahim. ‘A Symbolic Geometric Formulation of Branched Articulated Multibody Systems Based on Graphs and Lie Groups,’ IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016. [DOI]
Fares J. Abu-Dakka, A. Valera, JC Escalera, M. Vallés, V. Mata, M Abderrahim. ‘Trajectory Adaptation and Learning for Ankle Rehabilitation Using A 3-PRS Parallel Robot,’ The 8th International Conference on Intelligent Robotics and Applications (ICIRA), Portsmouth, UK, Aug. 24-27, 2015, Vol. 9245 of Intelligent Robotics and Applications/Lecture Notes in Computer Science, pp. 483.-494, 2015. [DOI]
Bojan Nemec, Fares Abu-Dakka, Jimmy Alison Jørgensen, Thiusius Rajeeth Savarimuthu, Barry Ridge, Jerome Jouffroy, Norbert Krüger, Aleš Ude. ‘Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile,’ 16th International Conference on Advanced Robotics (ICAR13), Montevideo, Uruguay, November 25-29th, 2013. [DOI][Video]
L.-P. Ellekilde, B. Nemec, D. Liljekrans, T.R. Savarimuthu, D. Kraft, F. Abu-Dakka, A. Ude, N. Kruger. ‘Robust peg-in-hole manipulation motivated by a human teleoperating strategy,’ Workshop FW7: Beyond Robot Grasping - Modern Approaches for Learning Dynamic Manipulation – Hosted by IROS12, Vilamoura, Algarve, Portugal, Oct. 12, 2012.
Fares J. Abu-Dakka, Bojan Nemec, and Aleš Ude. ‘Peg-In-Hole Using Dynamic Movement Primitives,’ proceeding for the 21st International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD12), Naples, Italy, 2012.
Fares J. Abu-Dakka, Iyad Assad, Francisco Valero, and Vicente Mata. ‘Parallel Population Genetic Algorithm for the Optimization of Cubic Polynomial Joint Trajectories for Industrial Robots,’ The 4th International Conference on Intelligent Robotics and Applications (ICIRA), Aachen, Germany, Dec. 6-9, 2011, Vol. 7101 of Intelligent Robotics and Applications/Lecture Notes in Computer Science, , pp. 83--92, 2011. DOI.
Fares J. Abu-Dakka, Francisco Valero, Allan Tubaileh, and Francisco Rubio. ‘Obtaining Adjacent Configurations with Minimum Time Considering Robot Dynamics,’ 12th IFToMM World Congress, Besançon, France, 2007.
Fares J. Abu-Dakka, F. Valero, V. Mata, and I. F. I. Assad. ‘Path planning optimization of industrial robots using genetic algorithm,’ 16th International Workshop on Robotics in Alpe-Adria-Danube Region, pp. 424-429, 2007.

SELECTED PAPERS

Cartesian Space Learning & Adaptation

Ga-DMP

Force-based Impedance Learning

Trajectory Optimization for Parameter Identification

Adaptation of Manipulation Skills

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