A5076278417- Robot Manipulation and Learning
- Soft Robotics and Applications
- Teleoperation and Haptic Systems
- Prosthetics and Rehabilitation Robotics
- Reservoir Engineering and Simulation Methods
- Tunneling and Rock Mechanics
- Drilling and Well Engineering
- Muscle activation and electromyography studies
- Robotic Locomotion and Control
- Robotic Path Planning Algorithms
- Human-Automation Interaction and Safety
- Robotics and Automated Systems
- Reinforcement Learning in Robotics
Italian Institute of Technology
2020-2024
University of Trento
2023-2024
Leonardo (United Kingdom)
2024
Teleoperation systems require a human-centered approach in which the kinematic mapping is intuitive and straightforward for operators. However, mismatch degrees-of-freedom (DoFs) between master slave could result an asymmetrical teleoperation system. That obstacle mapping. In particular, it even more challenging when missing DoF pure rotational DoF, since rotation group SO(3) nonlinear Riemannian manifold. This letter concerned with asymmetric system, where subsystem can provide 6-DoF pose...
This manuscript introduces a mobile cobot equipped with custom-designed high payload arm called RELAX combined novel unified multimodal interface that facilitates Human-Robot Collaboration (HRC) tasks requiring high-level interaction forces on real-world scale. The proposed framework is capable of combining physical interaction, Ultra Wide-Band (UWB) radio sensing, Graphical User Interface (GUI), verbal control, and gesture interfaces, the benefits all these different modalities allowing...
The workspace limit to smoothly map unreachable motions sensed in the leader side$^1$ reachable of follower robot is fundamental for teleoperation systems. Although numerous determination methods have been studied, approach still remains challenging. main difficulty that computation mapping from an point its corresponding nearest on boundary time-consuming. Here we propose a novel representation method describe geometric information by using Signed Distance Function (SDF). Compared with...
Orientability is an important performance index to evaluate the dexterity of haptic master devices. Currently, most existing devices have limited workspace and dexterity. In this paper, we present RemoT-ARM, a 6 Degree-of-Freedom (DOF) device that can provide larger more dexterous for operators. To its reachability orientations, propose novel orientability index. Furthermore, relative proposed characterize matching degree given manipulator target workspace. The volume, manipulability...
In emerging manufacturing facilities, robots must enhance their flexibility. They are expected to perform complex jobs, showing different behaviors on the need, all within unstructured environments, and without requiring reprogramming or setup adjustments. To address this challenge, we introduce A3CQP, a non-strict hierarchical Quadratic Programming (QP) controller. It seamlessly combinesboth motion interaction functionalities, with priorities dynamically autonomously adapted through...
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using end-effectors. Nevertheless, in most cases, actions involve low to moderate payload interaction forces. This is due limitations often presented by end-effectors, which can not match arm-reachable payload, hence limit that be grasped manipulated. In addition, grippers usually do embed adequate perception hardware, are mainly driven sensors installed...
In emerging manufacturing facilities, robots must enhance their flexibility. They are expected to perform complex jobs, showing different behaviors on the need, all within unstructured environments, and without requiring reprogramming or setup adjustments. To address this challenge, we introduce A3CQP, a non-strict hierarchical Quadratic Programming (QP) controller. It seamlessly combines both motion interaction functionalities, with priorities dynamically autonomously adapted through...