TY - CHAP T1 - Visual appearance mapping for optimal vision based servoing Y1 - 2009 A1 - D. Fontanelli A1 - P Salaris A1 - F. A. W. Belo A1 - A. Bicchi ED - B. Siciliano ED - O. Khatib ED - Groen, F. KW - Robotics T3 - Springer Tracts in Advanced Robotics (STAR) PB - Springer VL - 54 - Experimental Robotics ER - TY - CHAP T1 - Variable Stiffness Actuators for Fast and Safe Motion Control T2 - Proceedings of the International Symposium on Robotics Research Y1 - 2003 A1 - A. Bicchi A1 - G. Tonietti A1 - M. Bavaro A1 - M. Piccigallo ED - B. Siciliano ED - O. Khatib ED - Groen, F. KW - Robotics AB -

In 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.

JF - Proceedings of the International Symposium on Robotics Research T3 - Springer Tracts in Advanced Robotics (STAR) PB - Springer Verlag ER - TY - CHAP T1 - Contact and Grasp Robustness Measures: Analysis and Experiments T2 - Experimental Robotics-IV Y1 - 1996 A1 - D Prattichizzo A1 - J. K. Salisbury A1 - A. Bicchi ED - O. Khatib ED - K. Salisbury KW - Grasping KW - Haptics KW - Robot Hands AB -

In 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.

JF - Experimental Robotics-IV T3 - LNCIS 223 PB - Springer Verlag CY - Berlin Heidelberg, Germany ER -