00680nas a2200205 4500008004100000245006400041210006400105260002300169300001400192490003100206653001300237100001800250700001500268700002000283700001500303700001700318700001400335700001300349856011200362 2009 eng d00aVisual appearance mapping for optimal vision based servoing0 aVisual appearance mapping for optimal vision based servoing bSpringercMarch 28 a353 - 3620 v54 - Experimental Robotics10aRobotics1 aFontanelli, D1 aSalaris, P1 aBelo, F., A. W.1 aBicchi, A.1 aSiciliano, B1 aKhatib, O1 aGroen, F uhttp://www.centropiaggio.unipi.it/publications/visual-appearance-mapping-optimal-vision-based-servoing.html00907nas a2200181 4500008004100000245004900041210004500090300001200135490000700147520035500154653004400509653001300553100001700566700001700583700001500600700001500615856009500630 2007 eng d00aAn atlas of physical human-robot interaction0 aatlas of physical humanrobot interaction a253-2700 v433 a
A broad spectrum of issues have to be addressed in order to tackle the problem of a safe and dependable physical Human-Robot Interaction (pHRI). In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday enviornments. While there are certainly also ``cognitive
10aPhysical Human-Robot Interaction (pHRI)10aRobotics1 aDe Santis, A1 aSiciliano, B1 aLuca, A.De1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/atlas-physical-human-robot-interaction.html01029nas a2200337 4500008004100000245011100041210006900152260000900221653001300230100001300243700002200256700001500278700001600293700001500309700001600324700001700340700001400357700001600371700001700387700001500404700001700419700001500436700001400451700001100465700001700476700001600493700001500509700001500524700001600539856013600555 2006 eng d00aSafe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges0 aSafe and Dependable Physical HumanRobot Interaction in Anthropic bIEEE10aRobotics1 aAlami, R1 aAlbu-Schaeffer, A1 aBicchi, A.1 aBischoff, R1 aChatila, R1 aDe Luca, A.1 aDe Santis, A1 aGiralt, G1 aGuiochet, J1 aHirzinger, G1 aIngrand, F1 aLippiello, V1 aMattone, R1 aPowell, D1 aSen, S1 aSiciliano, B1 aTonietti, G1 aVillani, L1 aBicchi, A.1 aDe Luca, A. uhttp://www.centropiaggio.unipi.it/publications/safe-and-dependable-physical-human-robot-interaction-anthropic-domains-state-art-and01617nas a2200265 4500008004100000245008400041210006900125520078400194653001300978100002200991700001501013700001701028700001501045700001601060700001701076700001401093700001701107700001701124700001501141700001501156700001701171700001601188700001501204856013201219 2005 eng d00aPhysical Human-Robot Interaction in Anthropic Domains: Safety and Dependability0 aPhysical HumanRobot Interaction in Anthropic Domains Safety and 3 aIn this paper we describe the motivations and the aim ofthe EURON-2 research project ``\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains'' (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 ``charting'' the new ``territory'' 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.
10aRobotics1 aAlbu-Schaeffer, A1 aBicchi, A.1 aBoccadamo, G1 aChatila, R1 aDe Luca, A.1 aDe Santis, A1 aGiralt, G1 aHirzinger, G1 aLippiello, V1 aMattone, R1 aSchiavi, R1 aSiciliano, B1 aTonietti, G1 aVillani, L uhttp://www.centropiaggio.unipi.it/publications/physical-human-robot-interaction-anthropic-domains-safety-and-dependability.html01556nas a2200229 4500008004100000245009900041210006900140260002000209300001200229520078400241653002101025653001301046100001501059700001601074700001601090700001701106700001701123700001601140700001801156700001601174856013601190 2004 eng d00aOn The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles0 aProblem of Simultaneous Localization Map Building and Servoing o bSpringer Verlag a223-2393 aIn this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.
10aEmbedded Control10aRobotics1 aBicchi, A.1 aLorussi, F.1 aMurrieri, P1 aScordio, V G1 aSiciliano, B1 aDe Luca, A.1 aMelchiorri, C1 aCasalino, G uhttp://www.centropiaggio.unipi.it/publications/problem-simultaneous-localization-map-building-and-servoing-autonomous-vehicles.html01083nas a2200193 4500008004100000245006600041210006600107260002000173520046200193653001300655100001500668700001600683700001400699700001800713700001700731700001400748700001300762856011400775 2003 eng d00aVariable Stiffness Actuators for Fast and Safe Motion Control0 aVariable Stiffness Actuators for Fast and Safe Motion Control bSpringer Verlag3 aIn this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.
10aRobotics1 aBicchi, A.1 aTonietti, G1 aBavaro, M1 aPiccigallo, M1 aSiciliano, B1 aKhatib, O1 aGroen, F uhttp://www.centropiaggio.unipi.it/publications/variable-stiffness-actuators-fast-and-safe-motion-control.html01360nas a2200205 4500008004100000245005100041210005000092260002000142300001200162490000600174520076300180653002100943653001300964100001600977700001800993700001501011700001701026700001301043856009801056 2002 eng d00aVisual-servoed parking with limited view angle0 aVisualservoed parking with limited view angle bSpringer Verlag a254-2630 v53 aIn this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis, and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.
10aEmbedded Control10aRobotics1 aMurrieri, P1 aFontanelli, D1 aBicchi, A.1 aSiciliano, B1 aDario, P uhttp://www.centropiaggio.unipi.it/publications/visual-servoed-parking-limited-view-angle.html00555nam a2200169 4500008004100000245007100041210006900112260004800181490000800229653002400237653001500261100001500276700001700291700001500308700001500323856004700338 2001 eng d00aRamsete: Articulated and mobile robots for services and Technology0 aRamsete Articulated and mobile robots for services and Technolog aBerlin Heidelberg, GermanybSpringer-Verlag0 v27010aAutonomous Vehicles10aRobot Arms1 aNicosia, S1 aSiciliano, B1 aBicchi, A.1 aValigi, P. uhttp://www.springer.com/?SGWID=6-102-0-0-000622nas a2200217 4500008004100000245003800041210003800079260004800117300001000165490000800175653001300183653001200196653001600208100001500224700001300239700001500252700001700267700001500284700001500299856009000314 2001 eng d00aRobotic Grasping and Manipulation0 aRobotic Grasping and Manipulation aBerlin Heidelberg, GermanybSpringer-Verlag a55-740 v27010aGrasping10aHaptics10aRobot Hands1 aBicchi, A.1 aKumar, V1 aNicosia, S1 aSiciliano, B1 aBicchi, A.1 aValigi, P. uhttp://www.centropiaggio.unipi.it/publications/robotic-grasping-and-manipulation.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.html