@conference {FLGGMCFSB11, title = {Packet-based control}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {S. Falasca and G. Lorefice and L. Greco and M. Gamba and S. Melani and A. Chaillet and D. Fontanelli and R. Schiavi and C Belsito} } @conference {CSB-ICRA10, title = {Design for Variable Stiffness Actuation based on Enumeration and Analysis of Performance}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {3285 - 3291}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and R. Schiavi and A. Bicchi} } @conference {CGBSB10, title = {VSA-HD: From the Enumeration Analysis to the Prototypical Implementation}, booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2010}, month = {October}, pages = {3676 - 3681}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and G. Grioli and F. Bonomo and R. Schiavi and A. Bicchi} } @conference {SFB-ICRA09, title = {Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence}, booktitle = {Int. Conference of Robotics and Automation}, year = {2009}, month = {May, 12 - 17}, pages = {259 - 264}, address = {Kobe, Japan}, keywords = {Embedded Control, Robotics}, author = {R. Schiavi and F. Flacco and A. Bicchi} } @conference {DLFSB-IROS09, title = {Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {5487-5494}, address = {St. Louis MO USA}, abstract = {

Variable Stiffness Actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities is characterized. Moreover, a momentum-based collision detection scheme is introduced, which does not require joint torque sensing nor information on the time-varying stiffness of the device. Based on the residual signal, a collision reaction strategy is proposed that takes advantage of the proposed nonlinear control to rapidly let the arm bounce away after detecting the impact, while limiting contact forces through a sudden reduction of the stiffness. Simulations results are presented to illustrate the performance of the overall approach. Extensions to the multi-dof case of robot manipulators equipped with VSA-II devices are also considered.

}, keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics}, author = {A. De Luca and F. Flacco and R. Schiavi and A. Bicchi} } @conference {ACBBGSFB-IROS09, title = {A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {3336-3342}, address = {St. Louis MO USA}, abstract = {

This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the challenge. The system eventually turned out to be very effective in negotiating 89\% slopes of volcanic terrain on the challenge site, Mount Teide in Tenerife. To reduce the distance to be traveled on the difficult terrain and avoid risks in reaching the lowest parts of a crater, the vehicle was endowed with an innovative sample acquisition system, i.e. a casting manipulator. Casting manipulation is a technique in which the end-effector is thrown, the sample material is acquired, and the end-effector is retrieved using a light tether that acts as a

}, keywords = {Robotics}, author = {S. Alicino and M. G. Catalano and F. Bonomo and F. A. W. Belo and G. Grioli and R. Schiavi and A. Fagiolini and A. Bicchi} } @article {BDDLPPSS08, title = {Heterogeneous Wireless Multirobot System}, journal = {Robotics and Automation Magazine, IEEE}, volume = {15}, number = {1}, year = {2008}, pages = {62{\textendash}70}, keywords = {Robotics}, doi = {10.1109/M-RA.2007.914925}, url = {http://dx.doi.org/10.1109/M-RA.2007.914925}, author = {A. Bicchi and A. Danesi and G. Dini and La Porta, S. and L. Pallottino and I. M. Savino and R. Schiavi} } @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 = {

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.

}, 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 {schiavi2008icra, title = {VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2008}, pages = {2171 - 2176}, abstract = {

This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle established in [7] is followed as well. While the first version was built in a way to demonstrate effectiveness of variable impedance actuation (VIA), it had limitations in torque capacities, life cycle and implementability in a real robot. VSA-II overcomes the problem of implementability with higher capacities and robustness in design for longer life. The paper discusses design and stiffness behaviour of VSA-II in theory and experiments. A comparison of stiffness characteristics between the two actuator is discussed, highlighting the advantages of the new design. A simple, but effective PD scheme is employed to independently control joint-stiffness and joint-position of a 1-link arm. Finally, results from performed impact tests of 1- link arm are reported, showing the effectiveness of stiffness variation in controlling value of a safety metric.

}, keywords = {Robotics}, author = {R. Schiavi and G. Grioli and S. Sen and A. Bicchi} } @conference {BDSP:ECC07, title = {A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems}, booktitle = {Proc. European Control Conference (ECC)}, year = {2007}, month = {July}, pages = {4285-4292}, abstract = {

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other.

}, keywords = {Embedded Control, Robotics}, author = {P. Alriksson and J. Nordh and K -E Arz{\'e}n and A. Bicchi and A. Danesi and R. Schiavi and L. Pallottino} } @inbook {ISER04, title = {Optimal Mechanical/Control Design for Safe and Fast Robotics}, booktitle = {Experimental Robotics IX: The 9th International Symposium on Experimental Robotics}, series = {Springer Tracts in Advanced Robotics}, volume = {21}, year = {2006}, pages = {311 - 320}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

The problem to ensure safety of performant robot arms during task execution was previously investigated by authors. The problem can be approached by studying an optimal control policy, the "Safe Brachistocrone", whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum-time task execution for the robot, while guaranteeing an intrinsic safety level in case of an unexpected collision between a link of the arm and a human operator. In this paper we extend this approach to more general classes of robot actuation systems, whereby other impedance parameters beside stiffness (such as e.g. joint damping and/or plasticity) can vary. We report on a rather extensive experimental campaign validating the proposed approach.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi}, editor = {Marcelo H. Ang, Oussama Khatib} } @inbook {BSSTB06, title = {Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI}, booktitle = {European Robotics Symposium 2006}, series = {Springer Tracts in Advanced Robotics}, volume = {22}, year = {2006}, pages = {109 - 118}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Boccadamo and R. Schiavi and S. Sen and G. Tonietti and A. Bicchi}, editor = {H. Christensen} } @conference {DFPSSDB06, title = {A scalable platform for safe and secure decentralized traffic management of multiagent mobile systems}, booktitle = {ACM Workshop on Real-World Wireless Sensor Networks}, year = {2006}, abstract = {

In this paper we describe the application of wireless sensor networking techniques to address the realization of a safe and secure decentralized traffic management system. We consider systems of many heterogeneous autonomous vehicles moving in a shared environment. Each vehicle is assumed to have different and possibly unspecified tasks, but they cooperate to avoid collisions. We are interested in designing a scalable architecture capable of accommodating a very large and dynamically changing number of vehicles, guaranteeing their safety (i.e., collision avoidance), the achievement of their goals, and security against potential adversaries. By properly distributing and revoking cryptographic keys we are able to protect communications from an external adversary as well as to detect non-cooperative, possibly malicious vehicles and trigger suitable countermeasures. In our architecture, scalability is obtained by decentralization, i.e. each vehicle is regarded as an autonomous agent capable of processing information concerning its own state and the state of only a fixed, small number of {\textquoteleft}{\textquoteleft}neighboring{\textquoteright}{\textquoteright} agents. Ad-hoc wireless sensor networks are employed to provide support for this architecture.

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and A. Fagiolini and I. Savino and L. Pallottino and R. Schiavi and G. Dini and A. Bicchi} } @conference {DSSBG06, title = {Security and Advanced Control Issues in a Robotic Platform for Monitoring and Relief}, booktitle = {Proc. of EWSN 2006 February 13-15, ETH Zurich}, year = {2006}, abstract = {

This paper provides an architectural overview and a first implementation of an heterogeneous agent network composed by mobile robots of di

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and I. M. Savino and R. Schiavi and A. Bicchi and G. Dini} } @conference {TSB05, title = {Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2005}, pages = {528-533}, abstract = {

This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans. According to criteria established in our previous work on mechanical-control co-design for intrinsically safe, yet performant machines, we pursue the Variable Impedance Actuation (VIA) approach, purporting actuators that can control in real-time both the reference position and the mechanical impedance of the moving parts in the machine. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.

}, keywords = {Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi} } @conference {IARP05, title = {Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability}, booktitle = {Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2005}, abstract = {

In this paper we describe the motivations and the aim ofthe EURON-2 research project {\textquoteleft}{\textquoteleft}\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains{\textquoteright}{\textquoteright} (PRHIDOM). This project, which moves along the lines indicated by the 1$^{st}$ IARP/IEEE-RAS Workshop on Technical Challenge for Dependable Robots in Human Environments \cite{iarp01}, is about {\textquoteleft}{\textquoteleft}charting{\textquoteright}{\textquoteright} the new {\textquoteleft}{\textquoteleft}territory{\textquoteright}{\textquoteright} of physical Human-Robot Interaction (pHRI). To ensure these goals, the integration competences in control, robotics, design and realization of mechanical systems, human-machine interaction, and in safety-dependability of mechatronic systems is required. The PHRIDOM Consortium is composed of 5 partners from 3 different European countries.

}, keywords = {Robotics}, author = {A Albu-Schaeffer and A. Bicchi and G. Boccadamo and R. Chatila and A. De Luca and De Santis, A and G. Giralt and G. Hirzinger and V. Lippiello and R. Mattone and R. Schiavi and B. Siciliano and G. Tonietti and L. Villani} } @conference {BTS04, title = {Safe and Fast Actuators for Machines Interacting with Humans}, booktitle = {Proc. of the 1st Technical Exhibition Based Conference on Robotics and Automation, TExCRA2004, November 18-19, TEPIA, Tokyo, Japan -}, year = {2004}, pages = {(in press)}, abstract = {

This paper describes a new generation of actuators for robotic applications, and more generally for machines that are designed to interact with humans. Such actuators, called Variable Impedance Actuators, are designed to achieve fast motion control while guaranteeing safety of human operators in worst-case impact situation. The fundamental innovation is to implement safety by purely mechanical, passive means, to guarantee intrinsic safety, while active control is used to recover performance. The design concept, which is the subject of a patent application, has led to the experimental implementation of a Variable Stiffness Actuator. The effectiveness of the VSA has been recently validated theoretically and experimentally by authors.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti and R. Schiavi} }