A5082180334- Robot Manipulation and Learning
- Muscle activation and electromyography studies
- Prosthetics and Rehabilitation Robotics
- Soft Robotics and Applications
- Tactile and Sensory Interactions
- Robotic Path Planning Algorithms
- Motor Control and Adaptation
- Robotic Mechanisms and Dynamics
- Teleoperation and Haptic Systems
- Robotic Locomotion and Control
- EEG and Brain-Computer Interfaces
- Control and Dynamics of Mobile Robots
- Distributed Control Multi-Agent Systems
- Modular Robots and Swarm Intelligence
- Stability and Control of Uncertain Systems
- Stroke Rehabilitation and Recovery
- Advanced Control Systems Optimization
- Advanced Sensor and Energy Harvesting Materials
- Robotics and Sensor-Based Localization
- Neuroscience and Neural Engineering
- Real-Time Systems Scheduling
- Hand Gesture Recognition Systems
- Adaptive Control of Nonlinear Systems
- Visual perception and processing mechanisms
- Formal Methods in Verification
Italian Institute of Technology
2016-2025
University of Pisa
2016-2025
Piaggio (Italy)
2016-2025
University of Genoa
2022
Ospedale Policlinico San Martino
2022
Istituti di Ricovero e Cura a Carattere Scientifico
2022
The Ohio State University
2022
Georgia Institute of Technology
2022
ETH Zurich
2022
Monash University
2022
In this paper, an attempt at summarizing the evolution and state of art in field robot hands is made. such exposition, a critical evaluation what author's view are leading ideas emerging trends privileged with respect to exhaustiveness citations. The survey focused mainly on three types functional requirements machine hand can be assigned artificial system, namely, manipulative dexterity, grasp robustness, human operability. A basic distinction made between designed for mimicking anatomy...
This article considered the problem of designing joint-actuation mechanisms that can allow fast and accurate operation a robot arm, while guaranteeing suitably limited level injury risk. Different approaches to were presented, method performance evaluation was proposed based on minimum-time optimal control with safety constraints. The variable stiffness transmission (VST) scheme found be one few different possible schemes allows most flexibility potential performance. Some aspects related...
In this paper we introduce the Pisa/IIT SoftHand, a novel robot hand prototype designed with purpose of being robust and easy to control as an industrial gripper, while exhibiting high grasping versatility aspect similar that human hand. briefly review main theoretical tools used enable such simplification, i.e. neuroscience-based notion soft synergies. A discussion several possible actuation schemes shows straightforward implementation synergy idea in effective design is not trivial. The...
This paper addresses the problem of ensuring trustworthy computation in a linear consensus network. A solution to this is relevant for several tasks multi-agent systems including motion coordination, clock synchronization, and cooperative estimation. In network, we allow presence misbehaving agents, whose behavior deviate from nominal evolution. We model misbehaviors as unknown unmeasurable inputs affecting cast misbehavior detection identification into an unknown-input system theoretic...
The form-closure and force-closure properties of robotic grasp ing are investigated. Loosely speaking, these related to the capability robot inhibit motions workpiece in spite externally applied forces. In this article, is considered as a purely geometric property set unilateral (contact) constraints, such those on by mechanical fixture, while particular device being apply forces through contacts. concepts partial form- introduced discussed, an algorithm proposed obtain synthetic description...
This paper is concerned with the design and control of actuators for machines robots physically interacting humans, implementing criteria established in our previous work [1] on optimal mechanical-control co-design intrinsically safe, yet performant machines. In Variable Impedance Actuation (VIA) approach, real-time both reference position mechanical impedance moving parts machine such a way to optimize performance while guaranteeing safety. this we describe an implementation concepts,...
With a special choice for the system state equations, use of simplest quadratic form as candidate Lyapunov function directly leads to definition very simple, smooth and effective closed loop control laws unicycle-like vehicles, suitable be used steering, path following, navigation. The authors provide simulation examples show effectiveness and, in sense, "natural behavior" obtained motions (when compared with everyday driving experience).< <ETX>></ETX>
This paper considers the problem of solving conflicts arising among several aircraft that are assumed to move in a shared airspace. Aircraft can not get closer each other than given safety distance order avoid possible between different airplanes. For such system multiple aircraft, we consider path planning waypoints avoiding all conflicts. In particular interested optimal paths, i.e., want minimize total flight time. We propose two formulations multiaircraft conflict avoidance as...
In this paper, different research trends that use symbolic techniques for robot motion planning and control are illustrated. As it often happens in new areas, contributions to topic started at about the same time by groups with emphasis, approaches, notation. This article tries describe a framework which many of current methods ideas can be placed provide coherent picture what authors want do, have they got so far, main missing pieces are. Generally speaking, aim as is envisioned enable...
Variable Stiffness Actuators (VSA) are complex mechatronic devices, which developed to build passively compliant, robust, and dexterous robots.Numerous different hardware designs have been in the past two decades address various demands on their functionality.This review paper gives a guide design process from analysis of desired tasks identifying relevant attributes influence selection components such as motors, sensors, springs.The performance principles generate passive compliance...
This paper presents design and performance of a novel joint based actuator for robot run by variable stiffness actuation, meant systems physically interacting with humans. new prototype (VSA-II) is developed as an improvement over our previously one reported in [9], where optimal mechanical-control co-design principle established [7] followed well. While the first version was built way to demonstrate effectiveness impedance actuation (VIA), it had limitations torque capacities, life cycle...
This work presents the concept of tele-impedance as a method for remotely controlling robotic arm in interaction with uncertain environments. As an alternative to bilateral force-reflecting teleoperation control, compound reference command is sent slave robot including both desired motion trajectory and impedance profile, which are then realized by remote controller without explicit feedback operator. We derive from novel body–machine interface (BMI) applied master operator’s arm, using only...
This article reports on the state of art artificial hands, discussing some field's most important trends and suggesting directions for future research. We review group application domains robotic extracting set requirements that ultimately led to use simplified actuation schemes soft materials structures—two themes clearly emerge from our examination developments over past century. provide a comprehensive analysis novel technologies design joints, transmissions, actuators enabled these...
In this work, we present WALK‐MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high‐strength capabilities, physical sturdiness. To enable these WALK‐MAN design actuation are based on the most recent advancements of series elastic actuator drives with unique performance features differentiate robot from previous state‐of‐the‐art compliant actuated robots....
Leveraging the elastic bodies of soft robots promises to enable execution dynamic motions as well compliant and safe interaction with an unstructured environment. However, exploitation these abilities is constrained by lack appropriate control strategies. This work tackles for first time development closed-loop controllers a continuous robot. We present two architectures designed trajectory tracking surface following, respectively. Both are preserve natural softness robot adapt interactions...
Since their introduction in the early years of this century, variable stiffness actuators (VSA) witnessed a sustained growth interest research community, as shown by growing number publications. While many consider VSA very interesting for applications, one factors hindering further diffusion is relatively new conceptual structure technology. When choosing application, educated practitioners, who are used to robot based on standardized procedures and uniformly presented data, would be...
In this paper, two upper limbs of an exoskeleton robot are operated within a constrained region the operational space with unidentified intention human operator's motion as well uncertain dynamics including physical limits. The new human-cooperative strategies developed to detect subject's movement efforts in order make behavior flexible and adaptive. extracted from measurement muscular effort terms applied forces/torques can be represented derive reference trajectory his/her limb using...
In recent years, a clear trend toward simplification emerged in the development of robotic hands. The use soft approaches has been useful tool this prospective, enabling complexity reduction by embodying part grasping intelligence hand mechanical structure. Several prototypes designed according to such principles have accomplished good results terms simplicity, robustness, and reliability. Among them, Pisa/IIT SoftHand demonstrated feasibility large variety tasks, means only one actuator an...
Piecewise constant curvature models have proven to be an useful tool for describing kinematics and dynamics of soft robots. However, in their three dimensional formulation they suffer from many issues limiting range applicability - as discontinuities singularities mainly concerning the straight configuration robot. In this work we analyze these flaws, show that are not due piecewise assumption itself, but instead a byproduct commonly employed direction/angle bending parametrization state. We...
This article addresses contact sensing (i.e., the problem of re solving location a contact, force at interface, and moment about normals). Called "intrinsic" for use internal torque mea surements, this method allows practical devices that provide simple, relevant information in robotic appli cations. Such sensors have been used conjunction with robot hands to identify objects, determine surface friction, detect slip, augment grasp stability, measure object mass, probe surfaces, control...