%0 Book Section %D 2009 %T Visual appearance mapping for optimal vision based servoing %A D. Fontanelli %A P Salaris %A F. A. W. Belo %A A. Bicchi %E B. Siciliano %E O. Khatib %E Groen, F. %K Robotics %S Springer Tracts in Advanced Robotics (STAR) %I Springer %V 54 - Experimental Robotics %P 353 - 362 %8 March 28 %G eng %0 Book Section %B Proceedings of the International Symposium on Robotics Research %D 2003 %T Variable Stiffness Actuators for Fast and Safe Motion Control %A A. Bicchi %A G. Tonietti %A M. Bavaro %A M. Piccigallo %E B. Siciliano %E O. Khatib %E Groen, F. %K Robotics %X

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.

%B Proceedings of the International Symposium on Robotics Research %S Springer Tracts in Advanced Robotics (STAR) %I Springer Verlag %G eng %0 Book Section %B Experimental Robotics-IV %D 1996 %T Contact and Grasp Robustness Measures: Analysis and Experiments %A D Prattichizzo %A J. K. Salisbury %A A. Bicchi %E O. Khatib %E K. Salisbury %K Grasping %K Haptics %K Robot Hands %X

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.

%B Experimental Robotics-IV %S LNCIS 223 %I Springer Verlag %C Berlin Heidelberg, Germany %G eng