TY - JOUR T1 - Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots JF - IEEE ROBOTICS AND AUTOMATION LETTERS Y1 - 2022 A1 - Maja Trumic A1 - Giorgio Grioli A1 - Kosta Jovanovic A1 - Adriano Fagiolini KW - Calibration and Identification KW - Compliant Joints and Mechanisms KW - Flexible Robots KW - Safety in HRI AB -
Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into account the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree-of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its internal control signals. The validity of the approach is proven analytically for single and multiple degree-offreedom robots. The obtained estimators are first evaluated via simulations on articulated soft robots with different actuations and then tested in experiments with real robotic setups using antagonistic variable stiffness actuators.
ER - TY - JOUR T1 - Functional linear and nonlinear brain–heart interplay during emotional video elicitation: a maximum information coefficient study JF - Entropy Y1 - 2019 A1 - Catrambone, Vincenzo A1 - Greco, Alberto A1 - Scilingo, Enzo Pasquale A1 - Valenza, Gaetano VL - 21 ER - TY - CONF T1 - From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands T2 - Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017 9th International Congress on Y1 - 2017 A1 - G. Averta A1 - C. Della Santina A1 - E. Battaglia A1 - S. Ciotti A1 - V. Arapi A1 - S. Fani A1 - M. Bianchi AB -Human hands are capable of a variety of movements, thanks to their extraordinary biomechanical structure and rely- ing on the richness of human tactile information. Recently, soft robotic hands have opened exciting possibilities and, at the same time, new issues related to planning and control. In this work, we propose to study human strategies in environmental constraint exploitation to grasp objects from a table. We have considered both the case where participants’ fingertips were free and with a rigid shell worn on them to understand the role of cutaneous touch. Main kinematic strategies were quantified and classified in an unsupervised manner. The principal strategies appear to be consistent in both experimental conditions, although cluster cardinality differs. Furthermore, as expected, tactile feedback improves both grasp precision and quality performance. Results opens interesting perspective for sensing and control of soft manipulators.
JF - Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017 9th International Congress on PB - IEEE CY - Munich N1 -This work has been awarded with the "Best Student Paper Award" and the "Best Paper in Session - Robotics"
ER - TY - JOUR T1 - fabrication and perivascular implantation of bioactive scaffolds engineered with human adventitial progenitor cells for stimulation of arteriogenesis in peripheral ischemia JF - Biofabrication Y1 - 2016 A1 - Carrabba, M. A1 - C. De Maria A1 - A. Oikawa A1 - C. Reni A1 - I. Rodriguez-Arabaolaza A1 - H. Spencer A1 - S. Slater A1 - E. Avolio A1 - Z. Dang A1 - G. Spinetti A1 - MADEDDU, P. A1 - G. Vozzi KW - Bioengineering VL - 8 IS - 1:015020 ER - TY - JOUR T1 - A Fabric-based Approach for Wearable Haptics JF - In: Electronics - Special Issue on Wearable Electronics and Embedded Computing Systems for Biomedical Application Y1 - 2016 A1 - M. Bianchi VL - 5 IS - 3 ER - TY - CHAP T1 - From Soft to Adaptive Synergies: The Pisa/IIT SoftHand T2 - Human and Robot Hands Y1 - 2016 A1 - M. G. Catalano A1 - G. Grioli A1 - E. Farnioli A1 - A. Serio A1 - M. Bonilla A1 - M. Garabini A1 - C. Piazza A1 - M Gabiccini A1 - A. Bicchi AB -Taking inspiration from the neuroscientific findings on hand synergies discussed in the first part of the book, in this chapter we present the Pisa/IIT SoftHand, a novel robot hand prototype. The design moves under the guidelines of making an hardware robust and easy to control, preserving an high level of grasping capabilities and an aspect as similar as possible to the human counterpart. First, the main theoretical tools used to enable such simplification are presented, as for example the notion of soft synergies. A discussion of some possible actuation schemes shows that a straightforward implementation of the soft synergy idea in an effective design is not trivial. The proposed approach, called adaptive synergy, rests on ideas coming from underactuated hand design, offering a design method to implement the desired set of soft synergies as demonstrated both with simulations and experiments. As a particular instance of application of the synthesis method of adaptive synergies, the Pisa/IIT SoftHand is described in detail. The hand has 19 joints, but only uses one actuator to activate its adaptive synergy. Of particular relevance in its design is the very soft and safe, yet powerful and extremely robust structure, obtained through the use of innovative articulations and ligaments replacing conventional joint design. Moreover, in this work, summarizing results presented in previous papers, a discussion is presented about how a new set of possibilities is open from paradigm shift in manipulation approaches, moving from manipulation with rigid to soft hands.
JF - Human and Robot Hands PB - Springer VL - Springer Series on Touch and Haptic Systems ER - TY - CHAP T1 - A Full Body Sensing System for Monitoring Stroke Patients in a Home Environment T2 - Biomedical Engineering Systems and Technologies: 7th International Joint Conference, BIOSTEC 2014, Angers, France, March 3-6, 2014, Revised Selected Papers Y1 - 2016 A1 - Klaassen, B. A1 - van Beijnum, B.J.F. A1 - Weusthof, M. H. H. A1 - D. Hofs A1 - van Meulen, F.B. A1 - E. Droog A1 - H. Luinge A1 - S. Laurens A1 - A. Tognetti A1 - F. Lorussi A1 - R. Paradiso A1 - Held, J. A1 - Luft, A. R. L. A1 - Reenalda, J. A1 - Nikamp, C. D. M. A1 - Buurke, J. H. A1 - Hermens, HJ A1 - Veltink, P. KW - Bioengineering JF - Biomedical Engineering Systems and Technologies: 7th International Joint Conference, BIOSTEC 2014, Angers, France, March 3-6, 2014, Revised Selected Papers PB - Springer International Publishing SN - 978-3-319-26128-7 ER - TY - CONF T1 - A Finite Element Model of Tactile Flow for Softness Perception T2 - 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015) Y1 - 2015 A1 - E. Battaglia A1 - M. Bianchi A1 - M. L. D'Angelo A1 - M. D'Imperio A1 - F. Cannella A1 - E. P. Scilingo A1 - A. Bicchi KW - Haptics KW - Robotics JF - 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015) PB - IEEE CY - Milano, Italy, August 25th-29th, 2015 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7318884 N1 -This work was partially supported by the European Research Council under the ERC Advanced Grant no. 291166 SoftHands (A Theory of Soft Synergies for a New Generation of Artificial Hands) and under the grant agreement no. 601165 Wearhap (Wearable Haptics for Humans and Robots), within the FP7/2007-2013 program: Cognitive Systems and Robotics.
ER - TY - CHAP T1 - A Fabric-based Approach for Softness Rendering T2 - Multisensory Softness: Perceived Compliance from Multiple Sources of Information Y1 - 2014 A1 - M. Bianchi A1 - A. Serio A1 - E. P. Scilingo A1 - A. Bicchi KW - Haptics KW - Robotics AB -In this chapter we describe a softness display based on the contact area spread rate (CASR) paradigm. This device uses a stretchable fabric as a substrate that can be touched by users, while contact area is directly measured via an optical system. By varying the stretching state of the fabric, different stiffness values can be conveyed to users. We describe a first technological implementation of the display and compare its performance in rendering various levels of stiffness with the one exhibited by a pneumatic CASR-based device. Psychophysical experiments are reported and discussed. Afterwards, we present a new technological implementation for the fabric-based display, with reduced dimensions and faster actuation, which enables rapid changes in the fabric stretching state. These changes are mandatory to properly track typical force/area curves of real materials. System performance in mimicking force-area curves obtained from real objects exhibits a high degree of reliability, also in eliciting overall discriminable levels of softness.
JF - Multisensory Softness: Perceived Compliance from Multiple Sources of Information PB - Springer-Verlag VL - Springer Series on Touch and Haptic Systems UR - http://link.springer.com/chapter/10.1007%2F978-1-4471-6533-0_11 ER - TY - CONF T1 - Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor T2 - Gruppo Nazionale Bioingegneria IV Congresso Y1 - 2014 A1 - M. Ferroni A1 - S. Giusti A1 - G. Spatafora A1 - F. Boschetti A1 - A. Ahluwalia KW - Bioengineering AB -In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on the cells and recreate a physiological environment for cardiomyocytes cultures. This work is focused on an innovative Sensorized Squeeze PRessure (S2PR) bioreactor, able to apply a periodic contactless hydrodynamic pressures on 3D porous constructs. The fluid-dynamic environment inside the bioreactor was fully characterized using computational models, focusing on the pressures and fluid velocity profiles generated in the porous scaffold during the cyclic stimulation.
JF - Gruppo Nazionale Bioingegneria IV Congresso CY - Pavia, 25-27 June ER - TY - CONF T1 - Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor T2 - Proceedings of ICMMB2014 Y1 - 2014 A1 - M. Ferroni A1 - S. Giusti A1 - G. Spatafora A1 - F. Boschetti A1 - A. Ahluwalia KW - Bioengineering JF - Proceedings of ICMMB2014 UR - http://amsacta.unibo.it/4085/1/ProceedingsİCMMB2014.pdf ER - TY - JOUR T1 - For every thing there is a season and a time ? the construction of a humanoid. A tribute to Vincenzo Tagliasco JF - Frontiers in Bioengineering and Biotechnology Y1 - 2014 A1 - D. De Rossi A1 - A. D'Ursi KW - Bioengineering AB -"There is a time to be born, and a time to die; a time to break down, and a time to build up; a time to weep, and a time to laugh; a time to keep silence, and a time to speak" (Ecclesiastes 3, 2?7). There was a time when automata were designed like clocks. Androids will have the time of their creators, the state of the art in technology, a wealth of experience to draw from, as well as the capacity to carry out actions as being endowed with meaning. The machine will undergo a long period of nurturing, from which it will learn to shape some sort of identity.
VL - 2 UR - http://journal.frontiersin.org/Journal/10.3389/fbioe.2014.00019/abstract ER - TY - JOUR T1 - FDTD Analysis of a Radiofrequency Knee Coil for Low-Field MRI: Sample-Induced Resistance and Decoupling Evaluation JF - APPLIED MAGNETIC RESONANCE Y1 - 2013 A1 - Morelli, M. S. A1 - V. Hartwig A1 - Tassano, S. A1 - N. Vanello A1 - V. Positano A1 - M. F. Santarelli A1 - Carrozzi, A. A1 - L. Landini A1 - G. Giovannetti VL - 44 IS - 12 ER - TY - CONF T1 - Finite element model for PAM scaffolds T2 - Congresso Nazionale di Bioingegneria 2012 Atti Y1 - 2012 A1 - Pimentel, R A1 - G. Vozzi KW - Bioengineering JF - Congresso Nazionale di Bioingegneria 2012 Atti CY - Roma, Italy ER - TY - CONF T1 - Fluid dynamics characterization of a microfluidic concentration gradient maker T2 - Congresso Nazionale di Bioingegneria 2012 Atti Y1 - 2012 A1 - G. Orsi A1 - G. Vozzi KW - Bioengineering JF - Congresso Nazionale di Bioingegneria 2012 Atti CY - Roma, Italy ER - TY - JOUR T1 - Functionally Graded Materials (FGMs) with predictable and controlled gradient profiles: computational modelling and realisation JF - International Journal for Computational Methods in Engineering Science & Mechanics (CMES) Y1 - 2012 A1 - G. Mattei A1 - Tirella, A A1 - A. Ahluwalia KW - Bioengineering ER - TY - CHAP T1 - Further Advances in Unmanned Marine Vehicles Y1 - 2012 A1 - A. Caffaz A1 - A. Caiti A1 - V. Calabrò A1 - G. Casalino A1 - A Maguer A1 - A. Munafò A1 - J.R. Potter A1 - H Tay A1 - A. Turetta KW - Robotics PB - IET CY - Londra SN - 9781849194792 ER - TY - JOUR T1 - A flexible bioreactor system for constructing in vitro tissue and organ models. JF - Biotechnol Bioeng Y1 - 2011 A1 - Vozzi, F. A1 - D. Mazzei A1 - Vinci, B. A1 - G. Vozzi A1 - Sbrana, T. A1 - Ricotti, L. A1 - Forgione, N. A1 - A. Ahluwalia KW - Bioengineering AB -To develop in vitro models of cells, tissues and organs we have designed and realized a series of cell culture chambers. Each chamber is purpose designed to simulate a particular feature of the in vivo environment. The bioreactor system is user friendly, and the chambers are easy to produce, sterilize and assemble. In addition they can be connected together to simulate inter-organ or tissue cross-talk. Here we discuss the design philosophy of the bioreactor system and then describe its construction. Preliminary results of validation tests obtained with hepatocytes and endothelial cells are also reported. The results show that endothelial cells are extremely sensitive to small levels of shear stress and that the presence of heterotypic signals from endothelial cells enhances the endogenous metabolic function of hepatocytes.
VL - 108 ER - TY - CONF T1 - From Optimal Planning to Visual Servoing with Limited FOV T2 - 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems Y1 - 2011 A1 - P Salaris A1 - L. Pallottino A1 - S. Hutchinson A1 - A. Bicchi KW - Embedded Control KW - Robotics JF - 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems CY - S. Francisco, USA ER - TY - THES T1 - From Optimal Synthesis to Optimal Visual Servoing for Autonomous Vehicles Y1 - 2011 A1 - P Salaris KW - Robotics PB - University of Pisa N1 -Supervisors: Prof. Antonio Bicchi and Dott.ssa Lucia Pallottino
ER - TY - CONF T1 - The FACE of autism T2 - Proc. IEEE RO-MAN Y1 - 2010 A1 - D. Mazzei A1 - Billeci, L. A1 - Armato, A. A1 - Lazzeri, N. A1 - Cisternino, A. A1 - G. Pioggia A1 - Igliozzi, R. A1 - Muratori, F. A1 - A. Ahluwalia A1 - D. De Rossi KW - Bioengineering JF - Proc. IEEE RO-MAN ER - TY - JOUR T1 - Finite element modelling and design of a concentration gradient generating bioreactor: Application to biological pattern formation and toxicology JF - Toxicology in vitro Y1 - 2010 A1 - G. Vozzi A1 - D. Mazzei A1 - Tirella, A A1 - Vozzi, F. A1 - A. Ahluwalia KW - Bioengineering AB -This paper describes the use of a microfluidic gradient maker for the toxicological analysis of some conventional biomolecules such as hydrogen peroxide and a local anaesthetic, lidocaine on different cell cultures, human endothelial cells and myoblasts, respectively. The microfluidic device was designed and simulated using COMSOL Multiphysics(R) and the concentration gradient in the microfluidic network was analysed through a fluid-dynamic and mass-transport study. Subsequently the device was fabricated with soft lithography, casting PDMS in a master to obtain channels about 250mum deep. Hydrogen peroxide was tested on human endothelial cells, while lidocaine was tested on C2C12 myoblasts and an analysis was performed using propidium iodide staining followed by an imaging processing routine to obtain quantitative dose-response profiles in the gradient maker. The results show that the Gradient Maker (GM) bioreactor is a more sensitive method for detection of cell toxicity, and compared with testing of drug toxicity using microwells with individual cell cultures, allows one shot testing with a single cell culture exposed to a large number of concentrations. Moreover, the Gradient Maker was also modelled in order to realise biological pattern formation using two morphogenes acting as activator and inhibitor with varying diffusion rates.
VL - 24 UR - http://www.ncbi.nlm.nih.gov/pubmed/20580814 ER - TY - CONF T1 - A Flexible Linear Control Algorithm for Wireless Sensor Networks Synchronization T2 - Proc. IEEE Intl. Instrumentation and Measurement Technology Conference (I2MTC) Y1 - 2009 A1 - D. Fontanelli A1 - D. Macii A1 - D. Petri KW - Robotics JF - Proc. IEEE Intl. Instrumentation and Measurement Technology Conference (I2MTC) CY - Singapore ER - TY - JOUR T1 - Folaga: a low cost autonomous underwater vehicle combining glider and auv capabilities JF - OCEAN ENGINEERING Y1 - 2009 A1 - A. Alvarez A1 - A. Caffaz A1 - A. Caiti A1 - G. Casalino A1 - L. Gualdesi A1 - A. Turetta A1 - R. Viviani KW - Robotics VL - 36 UR - http://dx.medra.org/10.1016/j.oceaneng.2008.08.014 ER - TY - JOUR T1 - Fòlaga: A low cost AUV/glider for coastal environmental sampling JF - UNDERWATER TECHNOLOGY Y1 - 2009 A1 - A. Caffaz A1 - A. Caiti A1 - G. Casalino A1 - L. Gualdesi A1 - A. Turetta KW - Robotics VL - 28 UR - http://dx.medra.org/10.3723/ut.28.151 ER - TY - CONF T1 - An FPGA based arrhythmia recognition system for wearable applications T2 - Intelligent Systems Design and Applications, 2009. ISDA'09. Ninth International Conference on Y1 - 2009 A1 - Armato, A. A1 - Nardini, E. A1 - A Lanata A1 - G. Valenza A1 - Mancuso, C. A1 - E. P. Scilingo A1 - D. De Rossi KW - Bioengineering JF - Intelligent Systems Design and Applications, 2009. ISDA'09. Ninth International Conference on PB - IEEE ER - TY - JOUR T1 - From remote experiments to web-based learning objects: an advanced tele-laboratory for robotics and control systems JF - IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS Y1 - 2009 A1 - A. Balestrino A1 - A. Caiti A1 - E. Crisostomi KW - Robotics VL - 56 ER - TY - CONF T1 - A Fast RANSAC–Based Registration Algorithm for Accurate Localization in Unknown Environments using LIDAR Measurements T2 - Proc. IEEE Int. Conf. on Automation Science and Engineering Y1 - 2007 A1 - D. Fontanelli A1 - L. Ricciato A1 - S. Soatto KW - Embedded Control KW - Robotics AB -The problem of accurate localization using only measurements from a LIDAR sensor is analyzed in this paper. The sensor is rigidly fixed on a generic moving platform, which moves on a plane. Practical on–line applications of localization algorithms impose constraints on the execution time, problem that is addressed in this paper and compared with other existing solutions. Due to the nature of the sensor adopted, the localization algorithm is based on a fast and accurate {\em registration} algorithm, which is able to deal with noisy measurements, outliers and dynamic environments. The proposed solution relies on the RANSAC algorithm in combination with a Huber kernel in order to cope with typical nuisances in LIDAR measurements. The robust registration is successively used in combination with an Extended Kalman Filter to track the trajectory of the LIDAR over time, hence to solve the localization problem. Simulations and experimental results are reported to show the feasibility of the proposed approach.
JF - Proc. IEEE Int. Conf. on Automation Science and Engineering CY - Scottsdale, AZ, USA ER - TY - JOUR T1 - Feedback Encoding for Efficient Symbolic Control of Dynamical Systems JF - IEEE Trans. on Automatic Control Y1 - 2006 A1 - A. Bicchi A1 - A. Marigo A1 - B. Piccoli KW - Embedded Control KW - Robotics AB -The problem of efficiently steering dynamical systems by generating finite input plans is considered. Finite plans are finite–length words constructed on a finite alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. Efficiency is considered in terms of the computational complexity of plans, and in terms of their description length (in number of bits). We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper also investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range.
VL - 51 ER - TY - CONF T1 - Free Hand Haptic Interfaces Based on Magnetorheological Fluids T2 - Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems Y1 - 2006 A1 - N. Sgambelluri A1 - R. Rizzo A1 - E. P. Scilingo A1 - M. Raugi A1 - A. Bicchi KW - Haptics AB -This paper is concerned with exploring the possibility of using Magneto-Rheological Fluids (MRF) as haptic interface. MRF are special materials capable of changing their rheological behaviour with an external magnetic field. This property suggested us to use MRF to mimic virtual objects whose compliance can be gradually modulated. Several architectures of prototypes have been envisaged. The general scheme of both prototypes refers to a Haptic Black Box (HBB) concept, intended as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator
JF - Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems N1 -Poster presentation
ER - TY - CONF T1 - Flusso tattile ed illusione sensoriale T2 - SINC, Congresso nazionale della Societ Y1 - 2005 A1 - A. Bicchi A1 - E. P. Scilingo KW - Haptics KW - Robotics JF - SINC, Congresso nazionale della Societ CY - Roma, Italy ER - TY - CONF T1 - From tele-laboratory to e-learning in automation curricula at the university of Pisa T2 - Proc. IFAC World Congress Y1 - 2005 A1 - A. Balestrino A1 - A. Bicchi A1 - A. Caiti A1 - V. Calabrò A1 - T. Cecchini A1 - A. Coppelli A1 - L. Pallottino A1 - G. Tonietti KW - Robotics AB -The design and development of computational infrastructures supporting existing tele-laboratory experiences in the field of automation and robotics are described. The goal of the activity is to provide a proper e-learning environment in which remote laboratory experiences are integrated in a coherent way. The addition of e-learning features, as self-assessment and progress monitoring tools, asynchronous tutor interaction, authentication, evaluation and follow-up features, has led also to the modification of the original tele-laboratory set-up.
JF - Proc. IFAC World Congress ER - TY - CONF T1 - Functional and Pharmacological testing of endothelial cells cultured in dynamic conditions T2 - Proceedings of: XIV Edizione del Congresso della Fisiologia Clinica-CNR Y1 - 2005 A1 - Vozzi, F. A1 - Gentile, C. A1 - D. Mazzei A1 - G. Vozzi A1 - C. Domenici A1 - A. Ahluwalia KW - Bioengineering JF - Proceedings of: XIV Edizione del Congresso della Fisiologia Clinica-CNR ER - TY - JOUR T1 - Fast and Soft Arm Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control JF - IEEE Robotics and Automation Magazine Y1 - 2004 A1 - A. Bicchi A1 - G. Tonietti KW - Robotics AB -In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. The particular but basic problem of single-joint actuation is considered in detail. Intuitively, while a rigid and powerful structure of the arm would favour its performance, lightweight compliant structures are more suitable to safe operation. The quantitative analysis of the resulting design trade-off between safety and performance is one of the objectives of our work. Such analysis has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus our attention on one, the Variable-Stiffness Transmission (VST) approach. Some aspects related to the implementation of the mechanics and control of VST joints are reported.
VL - 11 N1 -PUBLISHER'S NOTE: In this paper, there are three errors introduced during production. First, the correct title of the article is Fast and Soft Arm Tactics. Also, on formulae for GSI and HIC in page 23, the acceleration is measured in multiples of the acceleration of gravity (g) [not grams], while time is measured in seconds. Finally, within Figure 1, one should read Compliant Covering, and Mrob = Mrotor + Mlink [instead of Krob = Krotor + Klink]. Please visit http://www.ncsu.edu/IEEE-RAS/RAM/BicchiFigure1.pdf to see the original figure.
ER - TY - CONF T1 - From nominal to robust planning: The plate-ball manipulation system T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 2003 A1 - G. Oriolo A1 - M. Vendittelli A1 - A. Marigo A1 - A. Bicchi KW - Embedded Control KW - Robotics AB -Robotic manipulation by rolling contacts is an appealing method for achieving dexterity with relatively simple hardware. While there exist techniques for planning motions of rigid bodies in rolling contact under nominal conditions, an inescapable challenge is the design of robust controllers of provable performance in the presence of model perturbations. As a preliminary step in this direction, we present in this paper an iterative robust planner of arbitrary accuracy for the plate-ball manipulation system subject to perturbations on the sphere radius. The basic tool is an exact geometric planner for the nominal system, whose repeated application guarantees the desired robustness property on the basis of the Iterative Steering paradigm. Simulation results under perturbed conditions show the effectiveness of the method.
JF - Proc. IEEE Int. Conf. on Robotics and Automation CY - Taipei, Taiwan ER - TY - CONF T1 - Force and Dynamic Manipulability for Cooperating Robot Systems T2 - Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems Y1 - 1997 A1 - A. Bicchi A1 - D Prattichizzo A1 - C. Melchiorri KW - Haptics KW - Robot Arms KW - Robot Hands JF - Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems ER - TY - CONF T1 - On the Force-Closure Property of Robotic Grasping T2 - Proc. IFAC Int. Symposium on Robot Control Y1 - 1994 A1 - A. Bicchi KW - Grasping KW - Robot Hands JF - Proc. IFAC Int. Symposium on Robot Control PB - Elsevier Science, Oxford, UK CY - Capri ER - TY - CONF T1 - Force Distribution in Multiple Whole-Limb Manipulation T2 - Proc. IEEE Int. Conf. Robotics and Automation Y1 - 1993 A1 - A. Bicchi KW - Grasping KW - Haptics KW - Robot Hands JF - Proc. IEEE Int. Conf. Robotics and Automation CY - Atlanta ER - TY - JOUR T1 - Ferroelectric polymer tactile sensors for prostheses JF - FERROELECTRICS Y1 - 1984 A1 - P. Dario A1 - D. De Rossi A1 - C. Giannotti A1 - F. Vivaldi A1 - P. C. Pinotti KW - Bioengineering VL - 60 ER -