00907nas a2200301 4500008004100000245012600041210006900167260001200236300000900248490000700257653001200264653001300276100001600289700001600305700001700321700001700338700001700355700002000372700001400392700001900406700001700425700001500442700002100457700002200478700001900500700001500519856007100534 2016 eng d00aHand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands0 aHand synergies Integration of robotics and neuroscience for unde c07/2016 a1-230 v1710aHaptics10aRobotics1 aSantello, M1 aBianchi, M.1 aGabiccini, M1 aRicciardi, E1 aSalvietti, G1 aPrattichizzo, D1 aErnst, M.1 aMoscatelli, A.1 aJorntell, H.1 aKappers, A1 aKyriakopulos, K.1 aAlbu-Schaeffer, A1 aCastellini, C.1 aBicchi, A. uhttp://www.sciencedirect.com/science/article/pii/S157106451600026901918nas a2200265 4500008004100000245008800041210006900129300001200198490000700210520109000217653001201307653001301319100001701332700001501349700001601364700002001380700001401400700001601414700001701430700001501447700001801462700002001480700002001500856013201520 2014 eng d00aHANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS0 aHANDSDVI A DeViceIndependent programming and control framework f a197-2150 v943 a
The scientific goal of HANDS.DVI consists of developing a common
framework to programming robotic hands independently from their kinematics,
mechanical construction, and sensor equipment complexity. Recent results on the
organization of the human hand in grasping and manipulation are the inspiration
for this experiment. The reduced set of parameters that we effectively use to control
our hands is known in the literature as the set of synergies. The synergistic
organization of the human hand is the theoretical foundation of the innovative approach
to design a unified framework for robotic hands control. Theoretical tools
have been studied to design a suitable mapping function of the control action (decomposed
in its elemental action) from a human hand model domain onto the
articulated robotic hand co-domain. The developed control framework has been
applied on an experimental set up consisting of two robotic hands with dissimilar
kinematics grasping an object instrumented with force sensors.
To adapt to many different objects and tasks, hands are very complex systems with many degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at the cost of size and weight of the hardware of devices, but it strongly affects also the ease of their programming. A possible approach to simplification consists in coupling some of the DOFs, thus affording a reduction of the number of effective inputs, and eventually leading to more efficient, simpler, and reliable designs. Such coupling can be at the software level, to achieve faster, more intuitive programmability or at the hardware level, through either rigid or compliant physical couplings between joints. Physical coupling between actuators and simplification of control through the reduction of independent inputs is also an often-reported interpretation of human hand movement data, where studies have demonstrated that few “postural synergies” explain most of the variance in hand configurations used to grasp different objects. Together with beneficial simplifications, the reduction of the number of independent inputs to a few coupled motions or “synergies” has also an impact on the ability of the hand to dexterously control grasp forces and in-hand manipulation. This paper aims to develop tools that establish how many synergies should be involved in a grasp to guarantee stability and efficiency, depending on the task and on the hand embodiment. Through the analysis of a quasi-static model, grasp structural properties related to contact force and object motion controllability are defined. Different compliant sources are considered, for a generalization of the discussion. In particular, a compliant model for synergies assumed, referred to as “soft synergies,” is discussed. The controllable internal forces and motions of the grasped object are related to the actuated inputs. This paper investigates to what extent a hand with many joints can ex- loit postural synergies to control force and motion of the grasped object.
10aHaptics10aRobotics1 aPrattichizzo, D1 aMalvezzi, M1 aGabiccini, M1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/motion-and-force-controllability-precision-grasps-hands-actuated-soft-synergies.html00695nas a2200205 4500008003900000245008300039210006900122260002700191100001100218700001400229700001300243700001500256700001500271700002000286700001500306700001300321700001600334700001700350856012200367 2013 d00aNeural correlates of haptic pop-out of shape discrimination in the human brain0 aNeural correlates of haptic popout of shape discrimination in th aSeattle, USA, June20131 aLeo, A1 aFeurra, M1 aRossi, S1 aKappers, A1 aBicchi, A.1 aPrattichizzo, D1 aCristea, I1 aDavid, D1 aPietrini, P1 aRicciardi, E uhttp://www.centropiaggio.unipi.it/publications/neural-correlates-haptic-pop-out-shape-discrimination-human-brain.html00488nas a2200157 4500008004100000245007700041210006900118300001600187653001300203100001600216700001500232700001700247700002000264700001500284856003100299 2013 eng d00aSynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands0 aSynGrasp a MATLAB Toolbox for Grasp Analysis of Human and Roboti a1088 - 109310aRobotics1 aMalvezzi, M1 aGioioso, G1 aSalvietti, G1 aPrattichizzo, D1 aBicchi, A. u10.1109/ICRA.2013.6630708 00687nas a2200181 4500008004100000024003600041245011600077210006900193300001400262490000700276653001200283653001300295100002000308700001600328700001700344700001500361856012900376 2012 eng d aAvailable online 17 August 201100aOn the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems0 aManipulability Ellipsoids of Underactuated Robotic Hands with Co a337 - 3460 v6010aHaptics10aRobotics1 aPrattichizzo, D1 aMalvezzi, M1 aGabiccini, M1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/manipulability-ellipsoids-underactuated-robotic-hands-compliance-robotics-and00575nas a2200169 4500008004100000245007500041210006800116300001400184490000700198653001200205653001300217100001700230700001500247700002000262700001600282856010700298 2011 eng d00aOn the Role of Hand Synergies in the Optimal Choice of Grasping Forces0 aRole of Hand Synergies in the Optimal Choice of Grasping Forces a235 - 2520 v3110aHaptics10aRobotics1 aGabiccini, M1 aBicchi, A.1 aPrattichizzo, D1 aMalvezzi, M uhttp://www.centropiaggio.unipi.it/publications/role-hand-synergies-optimal-choice-grasping-forces.html00563nas a2200145 4500008004100000245008200041210006900123260002600192653001200218653001300230100002000243700001600263700001500279856012300294 2010 eng d00aOn motion and force controllability of grasping hands with postural synergies0 amotion and force controllability of grasping hands with postural aZaragoza, SpaincJune10aHaptics10aRobotics1 aPrattichizzo, D1 aMalvezzi, M1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/motion-and-force-controllability-grasping-hands-postural-synergies.html00629nas a2200169 4500008004100000022001400041245010500055210006900160300001400229490000700243653001300250100001300263700001500276700001400291700002000305856013400325 2005 eng d a0364-905900aLocalization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach0 aLocalization of autonomous underwater vehicles by floating acous a140–1520 v3010aRobotics1 aCaiti, A1 aGarulli, A1 aLivide, F1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/localization-autonomous-underwater-vehicles-floating-acoustic-buoys-set-membership00613nas a2200193 4500008004100000245005500041210005500096260002000151300001200171653001200183100001500195700002000210700001300230700001900243700001600262700002000278700001700298856010400315 2005 eng d00aTactile Flow and Haptic Discrimination of Softness0 aTactile Flow and Haptic Discrimination of Softness bSpringer Verlag a165-17610aHaptics1 aBicchi, A.1 aScilingo, E. P.1 aDente, D1 aSgambelluri, N1 aBarbagli, F1 aPrattichizzo, D1 aSalisbury, K uhttp://www.centropiaggio.unipi.it/publications/tactile-flow-and-haptic-discrimination-softness.html00447nam a2200145 4500008004100000245003300041210003300074260003900107490000600146653001300152100001500165700001900180700002000199856008200219 2002 eng d00aControl Problems in Robotics0 aControl Problems in Robotics aBerlin HeidelbergbSpringer Verlag0 v410aRobotics1 aBicchi, A.1 aChristensen, H1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/control-problems-robotics.html00579nas a2200169 4500008004100000245005800041210005700099260003900156653001200195653001300207100002000220700001500240700001800255700001400273700001500287856010700302 2002 eng d00aGrasp Control: a General Manipulation System Approach0 aGrasp Control a General Manipulation System Approach aLausannebIEEE/RSJ IROScSeptember10aHaptics10aRobotics1 aPrattichizzo, D1 aBicchi, A.1 aMelchiorri, C1 aSanz, P J1 aMolfino, R uhttp://www.centropiaggio.unipi.it/publications/grasp-control-general-manipulation-system-approach.html00581nas a2200169 4500008004100000022001400041245007100055210006900126300001400195490000700209653001300216100001300229700001500242700001400257700002000271856012000291 2002 eng d a1610-192800aSet-membership acoustic tracking of autonomous underwater vehicles0 aSetmembership acoustic tracking of autonomous underwater vehicle a648–6520 v8810aRobotics1 aCaiti, A1 aGarulli, A1 aLivide, F1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/set-membership-acoustic-tracking-autonomous-underwater-vehicles.html00677nas a2200181 4500008004100000245009700041210006900138260001200207300001000219490000700229653001200236653004400248653001500292653001600307100001500323700002000338856013700358 2000 eng d00aAnalysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems0 aAnalysis and Optimization of Tendinous Actuation for Biomorphica cJanuary a23-310 v1810aHaptics10aPhysical Human-Robot Interaction (pHRI)10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/analysis-and-optimization-tendinous-actuation-biomorphically-designed-robotic-systems00592nas a2200181 4500008004100000245005200041210005200093260000900145300001000154653002400164653002900188653003000217653001200247100001500259700001800274700002000292856009800312 2000 eng d00aLocalization Of Vehicles By Sensory Information0 aLocalization Of Vehicles By Sensory Information cJune a68-7310aAutonomous Vehicles10aLocalization and Mapping10aNonlinear Control Systems10aSensors1 aBicchi, A.1 aConticelli, F1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/localization-vehicles-sensory-information.html00648nas a2200181 4500008004100000245009200041210006900133260001100202300001200213490000700225653001300232653001900245653001500264653001600279100001500295700002000310856013600330 2000 eng d00aManipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms0 aManipulability of Cooperating Robots with Unactuated Joints and cAugust a336-3450 v1610aGrasping10aManipulability10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/manipulability-cooperating-robots-unactuated-joints-and-closed-chain-mechanisms.html00738nas a2200193 4500008004100000245008900041210006900130260002700199300001400226653002400240653003000264653002600294653002000320100001800340700002000358700001300378700001500391856013800406 2000 eng d00aVision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles0 aVisionBased Dynamic Estimation and SetPoint Stabilization of Non aSan Francisco, CA, USA a2771-277610aAutonomous Vehicles10aNonlinear Control Systems10aSensors and Observers10avisual servoing1 aConticelli, F1 aPrattichizzo, D1 aGuidi, F1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/vision-based-dynamic-estimation-and-set-point-stabilization-nonholonomic-vehicles.html00532nas a2200145 4500008004100000245006300041210006200104300001400166653003000180653001600210100001500226700001400241700002000255856011100275 1999 eng d00aDexterity through rolling: Manipulation of unknown objects0 aDexterity through rolling Manipulation of unknown objects a1583-156810aNonlinear Control Systems10aRobot Hands1 aBicchi, A.1 aMarigo, A1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/dexterity-through-rolling-manipulation-unknown-objects.html01187nas a2200145 4500008004100000245006100041210006000102300001400162520069600176653001200872100001500884700001300899700002000912856010900932 1999 eng d00aOptimal Design of Dynamic Multiaxis Force/Torque Sensors0 aOptimal Design of Dynamic Multiaxis ForceTorque Sensors a2981-29863 aThe measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part10aSensors1 aBicchi, A.1 aCaiti, A1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/optimal-design-dynamic-multiaxis-forcetorque-sensors.html00526nas a2200145 4500008004100000245006300041210006300104653002100167653001300188100002000201700001800221700001500239700001400254856011200268 1998 eng d00aActive Suspensions Decoupling by Algebraic Output Feedback0 aActive Suspensions Decoupling by Algebraic Output Feedback10aEmbedded Control10aRobotics1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://www.centropiaggio.unipi.it/publications/active-suspensions-decoupling-algebraic-output-feedback.html00576nas a2200157 4500008004100000245008200041210006900123300001200192490000700204653001300211653001500224653001600239100002000255700001500275856012800290 1998 eng d00aDynamic Analysis of Mobility and Graspability of General Manipulation Systems0 aDynamic Analysis of Mobility and Graspability of General Manipul a241-2580 v1410aGrasping10aRobot Arms10aRobot Hands1 aPrattichizzo, D1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/dynamic-analysis-mobility-and-graspability-general-manipulation-systems.html00592nas a2200157 4500008004100000245008100041210006900122300001200191653001500203653002400218100002000242700001800262700001500280700001400295856012500309 1998 eng d00aGeometric Disturbance Decoupling Control of Vehicles with Active Suspensions0 aGeometric Disturbance Decoupling Control of Vehicles with Active a253-25710aAutomotive10aAutonomous Vehicles1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://www.centropiaggio.unipi.it/publications/geometric-disturbance-decoupling-control-vehicles-active-suspensions.html00507nas a2200145 4500008004100000245006100041210006100102300001400163653001300177653001500190653001600205100001500221700002000236856010500256 1998 eng d00aManipulability of Cooperating Robots with Passive Joints0 aManipulability of Cooperating Robots with Passive Joints a1038-104310aGrasping10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/manipulability-cooperating-robots-passive-joints.html01236nas a2200169 4500008004100000245005700041210005000098520067300148653002400821653002900845653002600874100001500900700002000915700001400935700001800949856009900967 1998 eng d00aOn the observability of mobile vehicles localization0 aobservability of mobile vehicles localization3 aIn this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non–observable, while results obtained from differential–geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.
10aAutonomous Vehicles10aLocalization and Mapping10aSensors and Observers1 aBicchi, A.1 aPrattichizzo, D1 aMarigo, A1 aBalestrino, A uhttp://www.centropiaggio.unipi.it/publications/observability-mobile-vehicles-localization.html00478nas a2200133 4500008004100000245006000041210005900101653001200160653001300172100001500185700002000200700001800220856010600238 1998 eng d00aOptimization of Internal Forces in Force-Closure Grasps0 aOptimization of Internal Forces in ForceClosure Grasps10aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D1 aAntognetti, G uhttp://www.centropiaggio.unipi.it/publications/optimization-internal-forces-force-closure-grasps.html00605nas a2200169 4500008004100000245008400041210006900125260001300194300001200207490000800219653001300227653001500240653001600255100002000271700001500291856012900306 1997 eng d00aConsistent Specification of Manipulation Tasks for Defective Mechanical Systems0 aConsistent Specification of Manipulation Tasks for Defective Mec cDecember a767-7770 v11910aGrasping10aRobot Arms10aRobot Hands1 aPrattichizzo, D1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/consistent-specification-manipulation-tasks-defective-mechanical-systems.html00589nas a2200157 4500008004100000245008400041210006900125653001300194653001500207653001600222100002000238700001800258700001500276700001400291856012600305 1997 eng d00aOn the Decoupling and Output Functional Controllability of Robotic Manipulation0 aDecoupling and Output Functional Controllability of Robotic Mani10aGrasping10aRobot Arms10aRobot Hands1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://www.centropiaggio.unipi.it/publications/decoupling-and-output-functional-controllability-robotic-manipulation.html01084nas a2200157 4500008004100000245005800041210005500099260002200154300001200176520057100188653001200759100001500771700001300786700002000799856010700819 1997 eng d00aDynamic force/torque sensors: theory and experiments 0 aDynamic forcetorque sensors theory and experiments aMonterey, CA, USA a727-7323 aAlthough present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results
10aSensors1 aBicchi, A.1 aCaiti, A1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/dynamic-forcetorque-sensors-theory-and-experiments.html00532nas a2200145 4500008004100000245006700041210006700108653001200175653001500187653001600202100001500218700002000233700001800253856011500271 1997 eng d00aForce and Dynamic Manipulability for Cooperating Robot Systems0 aForce and Dynamic Manipulability for Cooperating Robot Systems10aHaptics10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D1 aMelchiorri, C uhttp://www.centropiaggio.unipi.it/publications/force-and-dynamic-manipulability-cooperating-robot-systems.html00531nas a2200157 4500008004100000245006300041210005600104653001300160653001500173653001600188100002000204700001800224700001500242700001400257856010200271 1997 eng d00aOn the Geometric Control of Internal Forces in Power Grasp0 aGeometric Control of Internal Forces in Power Grasp10aGrasping10aRobot Arms10aRobot Hands1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://www.centropiaggio.unipi.it/publications/geometric-control-internal-forces-power-grasp.html00533nas a2200157 4500008004100000245005800041210005800099260002000157653001200177653001300189100002000202700001800222700001500240700001400255856010600269 1997 eng d00aGeometric Control Techniques for Manipulation Systems0 aGeometric Control Techniques for Manipulation Systems aBelfort, France10aHaptics10aRobotics1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://www.centropiaggio.unipi.it/publications/geometric-control-techniques-manipulation-systems.html00556nas a2200157 4500008004100000245005600041210005600097260004900153653001200202653001300214100002000227700001800247700001500265700001400280856010400294 1997 eng d00aGeometric Control Techniques for Mechanical Systems0 aGeometric Control Techniques for Mechanical Systems aSiena, Italia, september 29 - October 3 199710aHaptics10aRobotics1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://www.centropiaggio.unipi.it/publications/geometric-control-techniques-mechanical-systems.html00605nas a2200145 4500008004100000245009600041210006900137653002400206653003000230100001500260700001600275700002000291700001500311856013300326 1997 eng d00aIntroducing the Sphericle: an experimental testbed for research and teaching in nonholonomy0 aIntroducing the Sphericle an experimental testbed for research a10aAutonomous Vehicles10aNonlinear Control Systems1 aBicchi, A.1 aBalluchi, A1 aPrattichizzo, D1 aGorelli, A uhttp://www.centropiaggio.unipi.it/publications/introducing-sphericle-experimental-testbed-research-and-teaching-nonholonomy.html00456nas a2200133 4500008004100000245005100041210005000092260002000142653001300162100001500175700001300190700002000203856009900223 1997 eng d00aOptimal Design of Dynamic Force/Torque Sensors0 aOptimal Design of Dynamic ForceTorque Sensors aBelfort, France10aRobotics1 aBicchi, A.1 aCaiti, A1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/optimal-design-dynamic-forcetorque-sensors.html00551nas a2200181 4500008004100000245003800041210003800079260004800117300001000165653001200175653001300187100001500200700001400215700002000229700001700249700001700266856008600283 1997 eng d00aRobotic Dexterity via Nonholonomy0 aRobotic Dexterity via Nonholonomy aBerlin Heidelberg, GermanybSpringer Verlag a35-4910aHaptics10aRobotics1 aBicchi, A.1 aMarigo, A1 aPrattichizzo, D1 aSiciliano, B1 aValavanis, K uhttp://www.centropiaggio.unipi.it/publications/robotic-dexterity-nonholonomy.html00648nas a2200193 4500008004100000245006400041210006300105260004000168300001200208653002100220653001300241100001500254700001400269700002000283700001500303700001700318700001600335856010300351 1997 eng d00aRolling Polyhedra on a Plane: Analysis of the Reachable Set0 aRolling Polyhedra on a Plane Analysis of the Reachable Set aWellesley, MA, U.S.A.bA. K. Peters a277-28610aEmbedded Control10aRobotics1 aChitour, Y1 aMarigo, A1 aPrattichizzo, D1 aBicchi, A.1 aLaumond, J P1 aOvermars, M uhttp://www.centropiaggio.unipi.it/publications/rolling-polyhedra-plane-analysis-reachable-set.html00694nas a2200205 4500008004100000245006600041210006300107260004100170300001200211653001200223653001300235100001500248700002000263700001500283700002000298700001800318700002400336700001600360856011200376 1997 eng d00aOn some structural properties of general manipulation systems0 asome structural properties of general manipulation systems aLondon, U.K.bImperial College Press a187-20210aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D1 aAstolfi, A1 aLimebeer, D J N1 aMelchiorri, C1 aTornambèe, A1 aVinter, R B uhttp://www.centropiaggio.unipi.it/publications/some-structural-properties-general-manipulation-systems.html01218nas a2200193 4500008004100000245006800041210006700109260004800176520055500224653001300779653001200792653001600804100002000820700001900840700001500859700001400874700001700888856011900905 1996 eng d00aContact and Grasp Robustness Measures: Analysis and Experiments0 aContact and Grasp Robustness Measures Analysis and Experiments aBerlin Heidelberg, GermanybSpringer Verlag3 aIn this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so–called ``Instrumented Talon'', are reported as an illustration.
10aGrasping10aHaptics10aRobot Hands1 aPrattichizzo, D1 aSalisbury, J K1 aBicchi, A.1 aKhatib, O1 aSalisbury, K uhttp://www.centropiaggio.unipi.it/publications/contact-and-grasp-robustness-measures-analysis-and-experiments.html00593nas a2200157 4500008004100000245007100041210006900112260002500181653003000206653001600236100001500252700001500267700001400282700002000296856011900316 1996 eng d00aDexterity through Rolling: Towards Manipulation of Unknown Objects0 aDexterity through Rolling Towards Manipulation of Unknown Object aMiedzyzdroje, Poland10aNonlinear Control Systems10aRobot Hands1 aBicchi, A.1 aChitour, Y1 aMarigo, A1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/dexterity-through-rolling-towards-manipulation-unknown-objects.html00552nas a2200145 4500008004100000245007600041210006900117653001500186653001600201100002000217700001800237700001500255700001400270856012200284 1996 eng d00a Noninteracting force/motion control of defective manipulation systems 0 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Vehicle with Leg Redundancy0 aReflex Control of Locomotion for a FourLegged Vehicle with Leg R10aAutonomous Vehicles10aLegged Vehicles1 aBalluchi, A1 aBicchi, A.1 aCasalino, G1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/reflex-control-locomotion-four-legged-vehicle-leg-redundancy.html00524nas a2200121 4500008004100000245008900041210006900130653001500199653001600214100002000230700001500250856013700265 1996 eng d00aSpecifying Consistent Control Goals for Kinematically Defective Manipulation Systems0 aSpecifying Consistent Control Goals for Kinematically Defective 10aRobot Arms10aRobot Hands1 aPrattichizzo, D1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/specifying-consistent-control-goals-kinematically-defective-manipulation-systems.html00444nas a2200133 4500008004100000245004100041210004100082653003000123653001600153100001500169700002000184700001600204856009000220 1995 eng d00aPlanning Motions of Rolling Surfaces0 aPlanning Motions of Rolling Surfaces10aNonlinear Control Systems10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D1 aSastry, S S uhttp://www.centropiaggio.unipi.it/publications/planning-motions-rolling-surfaces.html00523nas a2200145 4500008004100000245006900041210006700110300001400177653001200191653001500203653001600218100001500234700002000249856010800269 1995 eng d00aA Standard Form for the Dynamics of General Manipulation Systems0 aStandard Form for the Dynamics of General Manipulation Systems a2810-281510aHaptics10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/standard-form-dynamics-general-manipulation-systems.html00548nas a2200145 4500008004100000245007700041210006900118653001200187653001500199653001600214100001700230700002000247700001500267856012000282 1994 eng d00aArticulated Structures with Tendon Actuation for Whole-Limb Manipulation0 aArticulated Structures with Tendon Actuation for WholeLimb Manip10aHaptics10aRobot Arms10aRobot Hands1 aPetreschi, P1 aPrattichizzo, D1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/articulated-structures-tendon-actuation-whole-limb-manipulation.html00520nas a2200157 4500008004100000245004800041210004800089260004000137653001300177653001200190653001600202100001500218700001700233700002000250856009200270 1994 eng d00aControl of manipulation with dextrous hands0 aControl of manipulation with dextrous hands aCapribElsevier Science, Oxford, UK10aGrasping10aHaptics10aRobot Hands1 aBicchi, A.1 aPetreschi, P1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/control-manipulation-dextrous-hands.html00405nas a2200133 4500008004100000245004600041210004500087300001200132653001200144653001300156100001500169700002000184856006700204 1994 eng d00aControllability of whole-arm manipulation0 aControllability of wholearm manipulation a373-37410aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=41090000628nas a2200169 4500008004100000245008700041210006900128260002900197300001300226653001200239653001300251100001500264700002000279700001600299700001600315856012700331 1993 eng d00aNew Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation0 aNew Issues in the KinetoStatics Dynamics and Control of WholeHan aAmsterdambNorth Holland a373-379010aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D1 aTakamori, T1 aTsuchiya, K uhttp://www.centropiaggio.unipi.it/publications/new-issues-kineto-statics-dynamics-and-control-whole-hand-manipulation.html00574nas a2200157 4500008004100000022001800041245006000059210006000119260004500179653002100224653001300245100002000258700001500278700001600293856010700309 1993 eng d aO-88986-179-X00aStatically Stable Legged Locomotion with Leg Redundancy0 aStatically Stable Legged Locomotion with Leg Redundancy aOxford, UK, september 23-25 1993bIASTED10aEmbedded Control10aRobotics1 aPrattichizzo, D1 aBicchi, A.1 aCasalino, G uhttp://www.centropiaggio.unipi.it/publications/statically-stable-legged-locomotion-leg-redundancy.html00576nas a2200145 4500008004100000245008000041210006900121260003800190653001300228100001800241700001500259700001300274700002000287856012300307 1993 eng d00aA variable structure approach to force/motion control of robot manipulators0 avariable structure approach to forcemotion control of robot mani aMilan, Italy, November 23-25 199310aRobotics1 aBalestrino, A1 aBicchi, A.1 aLandi, A1 aPrattichizzo, D uhttp://www.centropiaggio.unipi.it/publications/variable-structure-approach-forcemotion-control-robot-manipulators.html