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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)
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)
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, 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)
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)
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)
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. 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. 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)
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, 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)
A. Ajoudani, Fang, C., Tsagarakis, N. G., and Bicchi, A., Reduced-Complexity Representation of the Human Arm Active Endpoint Stiffness for Supervisory Control of Remote Manipulation, International Journal of Robotics Research, In Press.
A. Ajoudani, Tsagarakis, N. G., and Bicchi, A., Choosing Poses for Force and Stiffness Control, IEEE Transactions on Robotics, 2017 [Online]. Available: http://ieeexplore.ieee.org/document/7951027/PDF icon [PDF] (1.08 MB)
A. Ajoudani, Godfrey, S. B., Tsagarakis, N. G., and Bicchi, A., Teleimpedance Control: Overview and application, in Human and Robot Hands , vol. Springer Series on Touch and Haptic Systems, 2016, pp. 151-169. PDF icon [PDF] (712.14 KB)