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2016
A. Ajoudani, Hocaoglu, E., Altobelli, A., Rossi, M., Battaglia, E., Tsagarakis, N. G., and Bicchi, A., “Reflex Control of the Pisa/IIT SoftHand during Object Slippage”, in IEEE International Conference of Robotics and Automation (ICRA2016), Stockholm, Sweden, 2016, pp. 1972 - 1979 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487344PDF icon [PDF] (896.73 KB)
2015
M. Bagheri, A. Ajoudani, Lee, J., Caldwell, D. G., and Tsagarakis, N. G., “Kinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders”, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, 2015, pp. 2710 - 2715. PDF icon [PDF] (5.17 MB)
A. Ajoudani, Fang, C., Tsagarakis, N. G., and Bicchi, A., “A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control”, in IEEE International Conference of Intelligent Robots and Systems - IROS2015, Hamburg, Germany, 28 Sept - 2 Oct 2015, 2015, pp. 1017 - 1023 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7353495PDF icon [PDF] (1.41 MB)
A. Ajoudani, Tsagarakis, N. G., and Bicchi, A., “On the Role of Robot Configuration in Cartesian Stiffness Control”, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, 2015, pp. 1010 - 1016. PDF icon [PDF] (594.27 KB)
N. Karavas, A. Ajoudani, Tsagarakis, N. G., Saglia, J., Bicchi, A., and Caldwell, D., “Tele- Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance”, Robotics and Autonomous Systems, vol. 73 part A, pp. 78-90, 2015 [Online]. Available: http://www.sciencedirect.com/science/article/pii/S0921889014002127PDF icon [PDF] (1.9 MB)
G. Grioli, Wolf, S., Garabini, M., Catalano, M. G., Burdet, E., Caldwell, D. G., Carloni, R., Friedl, W., Grebenstein, M., Laffranchi, M., Lefeber, D., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Vanderborght, B., Albu-Schaeffer, A., and Bicchi, A., “Variable Stiffness Actuators: the user’s point of view”, Int. J. Robotics Research, vol. 34, no. 6, pp. 727-743, 2015 [Online]. Available: http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP&keytype=finitePDF icon [PDF] (2.09 MB)
2014
A. Ajoudani, Godfrey, S. B., Catalano, M. G., Bianchi, M., Grioli, G., Tsagarakis, N. G., and Bicchi, A., “Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand”, IEEE Transactions on Haptics, vol. 7, no. 2, pp. 203 - 215, 2014 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6755554PDF icon 2014_AGBCGTB_TOH.pdf (1.67 MB)
G. Salvietti, Gioioso, G., Malvezzi, M., Prattichizzo, D., Serio, A., Farnioli, E., Gabiccini, M., Bicchi, A., Sarakoglou, I., Tsagarakis, N. G., and Caldwell, D. G., “HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS”, in Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project, vol. 94, 2014, pp. 197-215. PDF icon [PDF] (5.36 MB)
A. Ajoudani, Lee, J., Rocchi, A., Ferrati, M., E. Hoffman, M., Settimi, A., Caldwell, D. G., Bicchi, A., and Tsagarakis, N. G., “Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task”, in IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014), Madrid, Spain, November 18 - 20, 2014, pp. 664 - 670 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041434PDF icon [PDF] (2.32 MB)
A. Settimi, Pavan, C., Varricchio, V., Ferrati, M., Mingo, E., Rocchi, A., Melo, K., Tsagarakis, N. G., and Bicchi, A., “A modular approach for remote operation of humanoid robots in search and rescue scenarios ”, in Modelling & Simulation for Autonomous Systems - MESAS2014, Rome, 5-6 May 2014, 2014. PDF icon [PDF] (3.72 MB)
A. Ajoudani, Tsagarakis, N. G., Lee, J., Gabiccini, M., and Bicchi, A., “Natural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control”, in 2014 IEEE International Conference on Robotics and Automation, Hong Kong, May 31 2014-June 7 2014 , 2014, pp. 1480 - 1486 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6945252PDF icon 2014_ATLGB_ICRA.pdf (1.84 MB)
A. Serio, Riccomini, E., Tartaglia, V., Sarakoglou, I., Gabiccini, M., Tsagarakis, N. G., and Bicchi, A., “The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps”, in Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, 2014, pp. 1261 - 1268. PDF icon [PDF] (4.12 MB)
J. Lee, A. Ajoudani, E. Hoffman, M., Rocchi, A., Settimi, A., Ferrati, M., Bicchi, A., Tsagarakis, N. G., and Caldwell, D. G., “Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task”, in IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014), Madrid, Spain, November 18 - 20, 2014, pp. 713 - 719 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041441PDF icon [PDF] (1.87 MB)
E. Mingo, Traversaro, S., Rocchi, A., Ferrati, M., Settimi, A., Romano, F., Natale, L., Bicchi, A., Nori, F., and Tsagarakis, N. G., “Yarp Based Plugins for Gazebo Simulator”, in 2014 Modelling and Simulation for Autonomous Systems Workshop (MESAS), Roma, Italy, 5 -6 May 2014, 2014. PDF icon [PDF] (1.07 MB)
2013
A. Ajoudani, Gabiccini, M., Tsagarakis, N. G., and Bicchi, A., “Human-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation”, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 4499 - 4505. PDF icon 2013_AGTB_ICRA.pdf (286 KB)
L. Chen, Garabini, M., Laffranchi, M., Kashiri, N., Tsagarakis, N. G., Bicchi, A., and Caldwell, D. G., “Optimal Control for Maximizing Velocity of the CompActTM Compliant Actuator”, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 516 - 522 [Online]. Available: 10.1109/ICRA.2013.6630623PDF icon [PDF] (937.54 KB)
N. Karavas, A. Ajoudani, Tsagarakis, N. G., Saglia, J., Bicchi, A., and Caldwell, D. G., “Tele-Impedance based Stiffness and Motion Augmentation for a Knee Exoskeleton Device”, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 2194 - 2200 [Online]. Available: 10.1109/ICRA.2013.6630872PDF icon 2013_KATSBC_ICRA.pdf (2.51 MB)
A. Ajoudani, Godfrey, S. B., Catalano, M. G., Grioli, G., Tsagarakis, N. G., and Bicchi, A., “Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 1985 - 1991. PDF icon [PDF] (1.63 MB)
B. Vanderborght, Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Visser, L. C., and Wolf, S., “Variable Impedance Actuators: a Review”, Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1601–1614, 2013 [Online]. Available: http://www.sciencedirect.com/science/article/pii/S0921889013001188PDF icon [PDF] (1.28 MB)
2012
A. Ajoudani, Gabiccini, M., Tsagarakis, N. G., Albu-Schaeffer, A., and Bicchi, A., “Tele-Impedance: Exploring the Role of Common-Mode and Configuration-Dependant Stiffness”, in IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 2012, pp. 363-369. PDF icon [PDF] (638.57 KB)
A. Ajoudani, Tsagarakis, N. G., and Bicchi, A., “Tele-impedance: Teleoperation with Impedance Regulation Using a Body-Machine Interface”, International Journal of Robotics Research, vol. 31 , no. 13, pp. 1643 - 1656, 2012. PDF icon [PDF] (2.17 MB)
A. Ajoudani, Tsagarakis, N. G., and Bicchi, A., “Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots”, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 382 - 388 . PDF icon [PDF] (952.53 KB)
M. G. Catalano, Grioli, G., Garabini, M., Belo, F. A. W., Di Basco, A., Tsagarakis, N. G., and Bicchi, A., “A Variable Damping module for Variable Impedance Actuation”, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 2666 - 2672. PDF icon [PDF] (785.17 KB)
B. Vanderborght, Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Ganesh, G., Garabini, M., Grioli, G., Haddadin, S., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Visser, L. C., and Wolf, S., “Variable Impedance Actuators: Moving the Robots of Tomorrow”, International Conference of Intelligent Robots and Systems - IROS 2012- Best Jubilee Video Award. 2012.
2011
A. Serio, Grioli, G., Sardellitti, I., Tsagarakis, N. G., and Bicchi, A., “A decoupled Impedance observer for a Variable Stiffness Robot”, in 2011 IEEE International Conference on Robotics and Automation, Shangai, China, 2011, pp. 5548 - 5553. PDF icon [PDF] (485.18 KB)
A. Ajoudani, Tsagarakis, N. G., and Bicchi, A., “Tele-Impedance: Preliminary Results on Measuring and Replicating Human Arm Impedance in Tele Operated Robots”, in IEEE International Conference on Robotics and Biomimetics - ROBIO 2011, Phuket, Thailand, 2011, pp. 216 - 223. PDF icon [PDF] (811.32 KB)
M. G. Catalano, Grioli, G., Garabini, M., Bonomo, F., Mancini, M., Tsagarakis, N. G., and Bicchi, A., “VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems”, in 2011 IEEE International Conference on Robotics and Automation, Shangai, China, 2011, pp. 5090 - 5095. PDF icon [PDF] (1.39 MB)