TY - JOUR T1 - On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation JF - IEEE Transactions on Robotics Y1 - 2021 A1 - A. Mannucci A1 - D. Caporale A1 - L. Pallottino VL - 37 UR - https://ieeexplore.ieee.org/document/9194321 IS - 1 ER - TY - JOUR T1 - LiDAR-Based GNSS Denied Localization for Autonomous Racing Cars JF - Sensors Y1 - 2020 A1 - F. Massa A1 - L. Bonamini A1 - A Settimi A1 - L. Pallottino A1 - D. Caporale VL - 20 UR - https://www.mdpi.com/1424-8220/20/14/3992#cite IS - 14 ER - TY - JOUR T1 - Analysis of series elasticity in locomotion of a planar bipedal robot JF - INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL Y1 - 2019 A1 - S. Manara A1 - G M Gasparri A1 - M. Garabini A1 - D. Caporale A1 - M Gabiccini A1 - A. Bicchi ER - TY - Generic T1 - Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars T2 - 2019 International Conference on Robotics and Automation (ICRA) Y1 - 2019 A1 - D. Caporale A1 - A Settimi A1 - F. Massa A1 - F. Amerotti A1 - A. Corti A1 - A. Fagiolini A1 - M. Guiggiani A1 - A. Bicchi A1 - L. Pallottino JF - 2019 International Conference on Robotics and Automation (ICRA) ER - TY - JOUR T1 - Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints JF - IEEE Robotics and Automation Letters Y1 - 2018 A1 - G M Gasparri A1 - S. Manara A1 - D. Caporale A1 - G. Averta A1 - M. Bonilla A1 - H. Marino A1 - M. G. Catalano A1 - G. Grioli A1 - M. Bianchi A1 - A. Bicchi A1 - M. Garabini AB -

Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be used to make the optimization more treatable and to efficiently describe the solution set. In this letter, we present an algorithm to encode effective walking references, generated offline via numerical optimization, extracting a limited number of principal components and using them as a basis of optimal motions. By combining these components, a good approximation of the optimal gaits can be generated at run time. The advantages of the presented approach are discussed, and an extensive experimental validation is carried out on a planar legged robot with elastic joints. The biped thus controlled is able to start and stop walking on a treadmill, and to control its speed dynamically as the treadmill speed changes.

VL - 3 ER - TY - JOUR T1 - Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario JF - IEEE Robotics Automation Magazine Y1 - 2018 A1 - F. Negrello A1 - A Settimi A1 - D. Caporale A1 - G. Lentini A1 - M. Poggiani A1 - D. Kanoulas A1 - L. Muratore A1 - Luberto, E. A1 - G. Santaera A1 - L. Ciarleglio A1 - L. Ermini A1 - L. Pallottino A1 - D. G. Caldwell A1 - N. Tsagarakis A1 - A. Bicchi A1 - M. Garabini A1 - M. G. Catalano KW - Buildings KW - Earthquakes KW - Hardware KW - Legged locomotion KW - Robot sensing systems KW - Task analysis ER - TY - CONF T1 - A Planning and Control System for Self-Driving Racing Vehicles T2 - 2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI) Y1 - 2018 A1 - D. Caporale A1 - A. Fagiolini A1 - L. Pallottino A1 - A Settimi A1 - A. Biondo A1 - F. Amerotti A1 - F. Massa A1 - S. De Caro A1 - A. Corti A1 - L. Venturini JF - 2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI) CY - Palermo, Italy ER - TY - CONF T1 - APRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design T2 - International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016 Y1 - 2016 A1 - A. Ferrarelli A1 - D. Caporale A1 - A Settimi A1 - L. Pallottino KW - Embedded Control KW - Robotics AB -

A novel MATLAB/Simulink based modeling and simulation environment for the design and rapid prototyping of state-of-the-art aircraft control systems is proposed. The toolbox, named APRICOT, is able to simulate the longitudinal and laterodirectional dynamics of an aircraft separately, as well as the complete 6 degrees of freedom dynamics. All details of the dynamics can be easily customized in the toolbox, some examples are shown in the paper. Moreover, different aircraft models can be easily integrated. The main goal of APRICOT is to provide a simulation environment to test and validate different control laws with different aircraft models. Hence, the proposed toolbox has applicability both for educational purposes and control rapid prototyping. With respect to similar software packages, APRICOT is customizable in all its aspects, and has been released as open source software. An interface with Flightgear Simulator allows for online visualization of the flight. Examples of control design with simulation experiments are reported and commented.

JF - International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016 PB - Springer CY - Rome, Italy, June 15-16, 2016 VL - 9991 of the book series Lecture Notes in Computer Science (LNCS) UR - http://link.springer.com/chapter/10.1007/978-3-319-47605-6_11 ER - TY - CONF T1 - Motion Primitive Based Random Planning for Loco–Manipulation Tasks T2 - IEEE International Conference on Humanoid Robots (HUMANOIDS 2016) Y1 - 2016 A1 - A Settimi A1 - D. Caporale A1 - P. Kryczka A1 - M. Ferrati A1 - L. Pallottino KW - Robotics AB -

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco–manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole–body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco–manipulation tasks.

JF - IEEE International Conference on Humanoid Robots (HUMANOIDS 2016) PB - IEEE CY - Cancun, Mexico, 15-17 Nov. 2016 SN - 978-1-5090-4718-5 UR - http://ieeexplore.ieee.org/document/7803402/ N1 -
This work is supported by the European commission project Walk-Man EU FP7-ICT no. 611832 and the ECs Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727 (CogIMon)
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