@conference {MED08-HTB,
	title = {Neural network based robust adaptive control for a variable stiffness actuator},
	booktitle = {Control and Automation, 16 th Mediterranean Conference on Control and Automation},
	year = {2008},
	pages = {1028 - 1034},
	abstract = {<p>In this paper we present a robust adaptive controller based on a neural network (NN) for a variable stiffness actuator (VSA). The controller is able to independently set the mechanical stiffness and position at the joint shaft to guarantee robustness with respect to slowly time-varying and unmodeled friction coefficients affecting the dynamics of the actuator. The lumped uncertainties of the VSA including unmodeled dynamics are considered and approximated by a simple NN so that the controlled system is asymptotically stable, and remains effective while process conditions vary. To cope with the reconstruction error of the NN, a sliding mode like additional robust control term is introduced. The proofs for the uniformly ultimately bounded (UUB) and uniform asymptotic (UAS) stabilities for the closed-loop system are provided in detail via Lyapunov theory. Simulation and experimental results are reported in support of both validity and performance of the proposed approach.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {S. Huh and G. Tonietti and A. Bicchi}
}
@conference {AMC08,
	title = {Physical Human-Robot Interaction: Dependability, Safety, and Performance},
	booktitle = {Proc. 10th Intl. Workshop Advanced Motion Control},
	year = {2008},
	pages = {9-14},
	abstract = {<p>In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.</p>
},
	keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics},
	author = {A. Bicchi and M. Bavaro and G. Boccadamo and D. De Carli and R. Filippini and G. Grioli and M. Piccigallo and A. Rosi and R. Schiavi and S. Sen and G. Tonietti}
}
@conference {BGGT05,
	title = {Hybrid Modelling of an Electronically Controlled Limited Slip Differential},
	year = {2005},
	month = {8-10 September},
	keywords = {Embedded Control, Robotics},
	author = {A. Bicchi and G. Greco and M. Guiggiani and G. Tonietti}
}
