A5057285974- Robot Manipulation and Learning
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Soft Robotics and Applications
- Robotics and Automated Systems
- Modular Robots and Swarm Intelligence
- Robotic Path Planning Algorithms
- Space Satellite Systems and Control
- Teleoperation and Haptic Systems
- Robotics and Sensor-Based Localization
- Muscle activation and electromyography studies
- Advanced Manufacturing and Logistics Optimization
- Human-Automation Interaction and Safety
- IoT and Edge/Fog Computing
- Space Exploration and Technology
- Embedded Systems Design Techniques
Italian Institute of Technology
2017-2025
Institute of Electrical and Electronics Engineers
2019
Gorgias Press (United States)
2019
Vrije Universiteit Brussel
2019
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...
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...
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...
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...
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...
Robotics teleoperation has been extensively studied and considered in the past several task scenarios where direct human intervention is not possible due to hazardous environments. In such applications, both communication degradation reduced perception of remote environment are practical issues that can challenge operator while controlling robot attempting physically interact within workspace. To address this challenge, we introduce a novel shared-autonomy Tele-Interaction control approach...
Mobile robotic platforms equipped with manipulation capabilities can fulfill the requirements of a wide range applications requiring functionality that is not only limited to monitoring environment but also permits interact and execute physical operations within application space. This paper presents IIT-INAIL arm, light weight manipulator designed be mounted on quadrupedal robot HyQReal, resulting in highly capable platform for teleoperation tasks challenging real-world environments. The...
This work presents the computational design and validation of Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to MIRROR (i.e., Multi-arm Installation Robot Readying ORUs Reflectors) use-case scenario as proposed by European Space Agency. A holistic pipeline is proposed, aim comparing different limb designs, well ensuring that valid candidates enable MARM perform complex loco-manipulation tasks required. Moti-vated task complexity...
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...
This work presents the computational design and validation of Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to MIRROR (i.e., Multi-arm Installation Robot Readying ORUs Reflectors) use-case scenario as proposed by European Space Agency. A holistic pipeline is proposed, aim comparing different limb designs, well ensuring that valid candidates enable MARM perform complex loco-manipulation tasks required. Motivated task complexity...
This special issue presents cutting-edge humanoid robot applications in real-world scenarios to solve problems.
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, are promising perform mission tasks from a safe distance. In CENTAURO project, we developed system which consists of highly flexible Centauro robot and suitable control interfaces including an immersive tele-presence suit support-operator controls on different levels autonomy. this article, give overview final system. particular,...