TY - CONF T1 - Advanced grasping with the Pisa/IIT softHand T2 - Robotic Grasping and Manipulation Challenge Y1 - 2018 A1 - M. Bonilla A1 - C. Della Santina A1 - A. Rocchi A1 - E. Luberto A1 - G. Santaera A1 - E. Farnioli A1 - C. Piazza A1 - F. Bonomo A1 - A. Brando A1 - A. Raugi A1 - M. G. Catalano A1 - M. Bianchi A1 - M. Garabini A1 - G. Grioli A1 - A. Bicchi JF - Robotic Grasping and Manipulation Challenge ER - TY - CONF T1 - The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation T2 - International Symposium on Wearable Robotics Y1 - 2018 A1 - C. Piazza A1 - M. G. Catalano A1 - M. Bianchi A1 - E. Ricciardi A1 - D. Pratichizzo A1 - S. Haddadin A1 - Luft, A. R. L. A1 - O. Lambercy A1 - R. Gassert A1 - E. Jakubowitz A1 - H. Van Der Kooij A1 - F. Tonis A1 - F. Bonomo A1 - B. de Jonge A1 - T. Ward A1 - K. Zhao A1 - M. Santello A1 - A. Bicchi JF - International Symposium on Wearable Robotics ER - TY - CONF T1 - Passive impedance control of a Qboid multi-DOF VSA-CubeBot manipulator T2 - International Conference of Robotics and Automation - ICRA 2012 Y1 - 2012 A1 - M. Mancini A1 - G. Grioli A1 - M. G. Catalano A1 - M. Garabini A1 - F. Bonomo A1 - A. Bicchi KW - Robotics JF - International Conference of Robotics and Automation - ICRA 2012 CY - Saint Paul, MN, USA ER - TY - CONF T1 - Variable stiffness actuators: muscles for the next generation of robots T2 - Automatica.it 2011 Y1 - 2011 A1 - G. Grioli A1 - M. G. Catalano A1 - M. Garabini A1 - F. Bonomo A1 - A. Serio A1 - P Salaris A1 - F. A. W. Belo A1 - M. Mancini A1 - A. Bicchi A1 - A. Passaglia KW - Robotics JF - Automatica.it 2011 CY - Pisa, Italy N1 -

poster presentation

ER - TY - CONF T1 - VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems T2 - 2011 IEEE International Conference on Robotics and Automation Y1 - 2011 A1 - M. G. Catalano A1 - G. Grioli A1 - M. Garabini A1 - F. Bonomo A1 - M. Mancini A1 - N G Tsagarakis A1 - A. Bicchi KW - Robotics JF - 2011 IEEE International Conference on Robotics and Automation CY - Shangai, China ER - TY - CONF T1 - Design and Control of a Novel 3D Casting Manipulator T2 - IEEE International Conference on Robotics and Automation (ICRA2010) Y1 - 2010 A1 - A. Fagiolini A1 - F. A. W. Belo A1 - M. G. Catalano A1 - S. Alicino A1 - F. Bonomo A1 - A. Bicchi KW - Embedded Control KW - Robotics JF - IEEE International Conference on Robotics and Automation (ICRA2010) CY - Anchorage, Alaska ER - TY - CONF T1 - VSA-HD: From the Enumeration Analysis to the Prototypical Implementation T2 - IEEE/RSJ International Conference on Intelligent RObots and Systems Y1 - 2010 A1 - M. G. Catalano A1 - G. Grioli A1 - F. Bonomo A1 - R. Schiavi A1 - A. Bicchi KW - Embedded Control KW - Robotics JF - IEEE/RSJ International Conference on Intelligent RObots and Systems CY - St. Louis MO USA ER - TY - CONF T1 - A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge T2 - Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems Y1 - 2009 A1 - S. Alicino A1 - M. G. Catalano A1 - F. Bonomo A1 - F. A. W. Belo A1 - G. Grioli A1 - R. Schiavi A1 - A. Fagiolini A1 - A. Bicchi KW - Robotics AB -

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

JF - Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems CY - St. Louis MO USA ER -