A5070252862- Prosthetics and Rehabilitation Robotics
- Robot Manipulation and Learning
- Robotic Locomotion and Control
- Muscle activation and electromyography studies
- Soft Robotics and Applications
- Robotic Mechanisms and Dynamics
- Robotic Path Planning Algorithms
- Teleoperation and Haptic Systems
- Hydraulic and Pneumatic Systems
- Piezoelectric Actuators and Control
- Modular Robots and Swarm Intelligence
- Dynamics and Control of Mechanical Systems
- Manufacturing Process and Optimization
- Iterative Learning Control Systems
- Robotics and Sensor-Based Localization
- Magnetic Bearings and Levitation Dynamics
- Space Satellite Systems and Control
- Control and Dynamics of Mobile Robots
- Shape Memory Alloy Transformations
- Neurogenetic and Muscular Disorders Research
- Sensorless Control of Electric Motors
- Mechanical Circulatory Support Devices
- Adaptive Control of Nonlinear Systems
- Composite Structure Analysis and Optimization
- Space Exploration and Technology
Italian Institute of Technology
2013-2023
Institute of Information Technologies
2020
Institute of Electrical and Electronics Engineers
2019
Gorgias Press (United States)
2019
Vrije Universiteit Brussel
2019
Babol University of Medical Sciences
2010-2011
Institute of Technology of Cambodia
2011
Babol Noshirvani University of Technology
2011
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....
Despite the development of a large number mobile manipulation robots, very few platforms can demonstrate required strength and mechanical sturdiness to accommodate needs real-world applications with high payload moderate/harsh physical interaction demands, e.g., in disaster-response scenarios or heavy logistics/collaborative tasks. In this letter, we introduce design wheeled-legged platform capable executing demanding tasks, demonstrating significant resilience while possessing body size...
Joint torque sensing represents one of the foundations and vital components modern robotic systems that target to match closely physical interaction performance biological through realization controlled actuators. However, despite decades studies on development different sensors, design accurate reliable sensors still remains challenging for majority robotics community preventing use technology. This letter proposes evaluates two joint elements based strain gauge deflection-encoder...
Mobile manipulation robots have great potential for roles in support of rescuers on disaster-response missions. Robots can operate places too dangerous humans and therefore assist accomplishing hazardous tasks while their human operators work at a safe distance. We developed system that consists the highly flexible Centauro robot suitable control interfaces, including an immersive telepresence suit support-operator controls offering different levels autonomy.
Developing a high physical performance robotic manipulation platform with considerable power density, strength and resilience is not trivial task frequently leads to heavy bulky systems unable meet the application requirements, i.e. such robots should have human body size compatibility work in infrastructures designed for humans. In this we present new weight compatible bi-manual that demonstrates notable capabilities. To attain performance, design features including custom elastic drives...
Series-elastic actuators are quickly becoming the core component of robots operating in real-world environments, allowing for robust, safe, torque-controlled robots. This letter investigates influence selected stiffness and control parameters. By consolidating several analyses, it is shown two opposing criteria exist choice stiffness: lowering increases actuator transparency, while increasing torque tracking bandwidth. fact used context impedance rendering to propose an optimal selection...
Legged-wheeled robots combine the advantages of efficient wheeled mobility with adaptability to real-world terrains through legged locomotion. Due this hybrid skill, they can excel in many application scenarios where other mobile platforms are not suitable for. However, their versatile increases number constraints motion control both properties and systems need be considered. Relevant schemes for legged-wheeled so far have been developed exploiting separate functionalities. This paper...
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction maintenance manned unmanned stations on the moon other planets. Suitable platforms require flexible robust hardware, a locomotion approach that allows for navigating wide variety terrains, dexterous capabilities, respective user interfaces. We present CENTAURO system which has been designed these requirements consists Centauro...
In this study, an iterative method for computing the time-optimal point-to-point control of robot manipulators is studied, subject to limits on actuator torques and jerks. This uses indirect solution open-loop optimal problem so that translated a non-linear two-point boundary value (TPBVP). Since there are many difficulties in finding switching points solving TPBVP, simple proposed. based minimum-energy without necessity point. So, resultant TPBVP can be solved using usual algorithms....
The ongoing trend from mass-produced to mass-customized products with batch sizes as small a single unit has highlighted the need for highly adaptable robotic systems lower downtime maintenance. To address these demands, this article proposes development of novel reconfigurable collaborative robot (cobot), which potential open up many new scenarios within rapidly emerging flexible manufacturing environments. As technological contribution, we present complete hard- and software architecture...
The CompAct™ actuator features a clutch mechanism placed in parallel with its passive series elastic transmission element and can therefore benefit from the advantages of both actuators (SEA) rigid actuators. is capable effectively managing storage release potential energy compliant by appropriate control subsystem. Controlling timing storage/release exploited for improving motion this research. This paper analyses how class actuation systems be used to maximize link velocity joint. dynamic...
Robots powered by intrinsic compliant actuation systems have been developed in the past years to provide improved mechanical robustness and physical interaction performance. Despite these benefits, incorporation of passive elasticity system can however generate unwanted oscillations complicating control systems. An approach address this issue proposes addition damping transmission joints. A particular embodiment be based on clutch mechanisms integrated parallel elasticity. This paper studies...
On a new demand of safe human-robot interaction for robotic applications, the Compact Compliant Actuator, named CompAct <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">TM</sup> , is recently developed with physical compliance and active variable damping. In this mechanism, desired damping behavior realized by generating friction force which actively controlled piezoelectric actuators (PEAs). However, nonlinearities such as hysteresis creep...
This paper introduces the design of a novel under-actuated hand with highly integrated modular finger units, which can be easily reconfigured in terms arrangement and number to account for manipulation needs different applications. Each module is powered by single actuator through an transmission equipped sensory system delicate precise grasping, includes absolute position measurements, contact pressure sensing at phalanxes motor current readings. Finally, intrinsic elasticity make robust...
The incorporation of intrinsic compliance in robotic actuation systems has attracted the attention during recent years due to considerable benefits which is not possible achieve with conventional "stiff" systems. However, despite numerous compliant robots developed, a systematic method for tuning passive elasticity individual joints still missing. This typically performed using experimental trial and error processes very little information on criteria methodologies used available. work...
The development of variable impedance actuators (VIAs) has highlighted the need for proper control passive to attain suitable interaction performance. Until recently regulation intrinsic in VIAs is achieved an open-loop model-based manner, mainly due lack physical sensors capable measuring components such as stiffness and damping. Hence, estimation damping been explored, with target provide monitoring feedback potential closed loop schemes. However, use output these estimators never...
The introduction of physical compliance in robotic actuation systems has attracted increasing attention during recent years, due to the considerable benefits it can provide with respect interaction safety, mechanical robustness and energy efficiency. However, incorporation passive compliant elements also results more complex dynamics, oscillations limited bandwidth, requiring development sophisticated control strategies. Recently, variable damping mechanisms have been proposed improve...
This paper describes a technique aimed at the online active impedance regulation of compliant humanoid robots, for purpose maintaining balance. The presence passive elastic elements in their drives leads to under-actuation, thereby rendering control robots rather intricate task. Consequently, procedure proposed this accounts these elements. In order acquire an indication robot's state balance fashion, energy (Lyapunov) function is introduced, whose sign then allows one determine whether...
In recent years several legged/wheeled robots have been developed and proved their effective functionality in locomotion on uneven terrains. Many robotics researchers focusing improving the speed, as well stability robustness of such robots. High-speed is however subject to various design challenges, especially development actuators. The robotic applications which require high-speed motion high torque operations along with ability manage dynamic physical interactions are not satisfied by...