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Journal Article
C. Della Santina, Pallottino, L., Rus, D., and Bicchi, A., Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach, IEEE Robotics and Automation Letters, vol. Volume: 4 , Issue: 3 , July 2019, 2019. PDF icon 00_main.pdf (3.33 MB)
P. Salaris, Cristofaro, A., Pallottino, L., and Bicchi, A., Epsilon–optimal synthesis for vehicles with vertically bounded Field-Of-View, IEEE Transactions on Automatic Control, vol. 60, no. 5, pp. 1204 - 1218, 2015. PDF icon [PDF] (2.05 MB)
E. Luberto, Wu, Y., Santaera, G., Gabiccini, M., and Bicchi, A., Enhancing Adaptive Grasping Through a Simple Sensor-Based Reflex Mechanism , IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1664 - 1671, 2017 [Online]. Available:
R. Rizzo, Sgambelluri, N., Scilingo, E. P., Raugi, M., and Bicchi, A., Electromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids, IEEE Transactions on Magnetics, vol. 43, pp. 3586-3600, 2007. PDF icon [PDF] (5.59 MB)
R. Mengacci, Keppler, M., Pfanne, M., Bicchi, A., and Ott, C., Elastic Structure Preserving Control for Compliant Robots Driven by Agonistic-Antagonistic Actuators (ESPaa), IEEE Robotics and Automation Letters, pp. 1-1, 2021 [Online]. Available: icon espaa-final.pdf (1.32 MB)
G. M. Gasparri, Manara, S., Caporale, D., Averta, G., Bonilla, M., Marino, H., Catalano, M. G., Grioli, G., Bianchi, M., Bicchi, A., and Garabini, M., Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints, IEEE Robotics and Automation Letters, vol. 3, pp. 2299–2306, 2018. PDF icon 08294205.pdf (829.55 KB)
E. Ricciardi, Vanello, N., Sani, L., Gentili, C., Scilingo, E. P., Landini, L., Guazzelli, M., Bicchi, A., Haxby, J. V., and Pietrini, P., The Effect of Visual Experience on the Development of Functional Architecture in hMT+, Cerebral Cortex, vol. 17, pp. 2933 - 2939, 2007. PDF icon [PDF] (717.32 KB)
A. Bicchi and Arai, H., Editorial for the Special Issue on Nonholonomy on Purpose, Int. Jour. of Robotics Research, vol. 21, pp. 387-388, 2002.
G. Zambella, Lentini, G., Garabini, M., Grioli, G., Catalano, M. G., Palleschi, A., Pallottino, L., Bicchi, A., Settimi, A., and Caporale, D., Dynamic Whole-Body Control of Unstable Wheeled Humanoid Robots, IEEE Robotics and Automation Letters, vol. 4, 2019 [Online]. Available: icon dwbc.pdf (1.76 MB)
A. Di Lallo, Catalano, M. G., Garabini, M., Grioli, G., Gabiccini, M., and Bicchi, A., Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots, Frontiers in Robotics and AI, 2019. PDF icon frobt-06-00023.pdf (4.57 MB)
D. Prattichizzo and Bicchi, A., Dynamic Analysis of Mobility and Graspability of General Manipulation Systems, IEEE Trans. on Robotics and Automation, vol. 14, pp. 241-258, 1998. PDF icon [PDF] (858.53 KB)
A. Bicchi and Marigo, A., Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation, Int. Jour. of Robotics Research, vol. 21, pp. 427-442, 2002. PDF icon [PDF] (473.99 KB)
A. Quagli, Fontanelli, D., Greco, L., Palopoli, L., and Bicchi, A., Design of Embedded Controllers Based on Anytime Computing, IEEE Trans. Industrial Infor., vol. 6, pp. 492 - 502, 2010. PDF icon [PDF] (478.77 KB)
M. Xiloyannis, Annese, E., Canesi, M., Kodian, A., Bicchi, A., Micera, S., A. Ajoudani, and Masia, L., Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit, Frontiers in Neurorobotics, 2019 [Online]. Available:
L. Greco, Fontanelli, D., and Bicchi, A., Design and Stability Analysis for Anytime Control via Stochastic Scheduling, IEEE Trans. on Automat. Contr., vol. 56, pp. 571 - 585, 2011. PDF icon [PDF] (1.08 MB)
A. De Acutis, Calabrese, L., Bau, A., Tincani, V., Pugno, N. M., Bicchi, A., and De Rossi, D., Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling, Smart Materials and Structures, 2018. PDF icon de_acutis_2018_smart_mater._struct._27_074005.pdf (1.78 MB)
A. Visar, C. Della Santina,, Bacciu, D., Bianchi, M., and Bicchi, A., DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information, Frontiers in Neurorobotics, 2018. PDF icon arapi_et_al_2018.pdf (2.8 MB)
A. Balluchi and Bicchi, A., Decentralized Variable Structure Tracking for Systems with Time-Domain Dominance, International Journal of Applied Mathematics and Computer Science, vol. 9, pp. 265-291, 1999. PDF icon [PDF] (533.57 KB)
F. Angelini, C. Della Santina,, Garabini, M., Bianchi, M., Gasparri, G. M., Grioli, G., Catalano, M. G., and Bicchi, A., Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment, IEEE Transactions on Robotics (T-RO)., vol. Early Access, 2018. PDF icon [PDF] (1.37 MB)
L. Pallottino, Scordio, V. G., Frazzoli, E., and Bicchi, A., Decentralized cooperative policy for conflict resolution in multi-vehicle systems, IEEE Trans. on Robotics, vol. 23, pp. 1170-1183, 2007. PDF icon [PDF] (913.03 KB)
A. Bicchi, A Criterion for Optimal Design of Multiaxis Force Sensors, Journal of Robotics and Autonomous Systems, vol. 10, pp. 269-286, 1992. PDF icon [PDF] (351.23 KB)
B. Huang, Li, Z., Wu, X., A. Ajoudani, Bicchi, A., and Liu, J., Coordination Control of a Dual-arm Exoskeleton Robot Using Human Impedance Transfer Skills, IEEE Trans. Systems Man and Cybernetics: Systems, 2017 [Online]. Available:
A. Fagiolini, Dubbini, N., Martini, S., and Bicchi, A., Convergence Analysis of Distributed Set-Valued Information Systems, IEEE Transactions on Automatic Control, vol. 61, no. 6, pp. 1477 - 1491, 2016 [Online]. Available: icon [PDF] (2.33 MB)
C. Della Santina, Bianchi, M., Grioli, G., Angelini, F., Catalano, M. G., Garabini, M., and Bicchi, A., Controlling Soft Robots: Balancing Feedback and Feedforward Elements, IEEE Robotics and Automation Magazine, vol. 24, no. 3, pp. 75 - 83, 2017 [Online]. Available: icon [PDF] (1.22 MB)
S. Martini, Egerstedt, M., and Bicchi, A., Controllability analysis of multi-agent systems using relaxed equitable partitions, Int. J. Systems, Control and Communications, vol. 2, pp. 100-121, 2010. PDF icon [PDF] (328.01 KB)
B. Picasso and Bicchi, A., Control synthesis for practical stabilization of quantized linear systems, Rend. Sem. Mat. Univ. Pol. Torino, Control Theory and Stabil., I, vol. 63, pp. 397–410, 2005. PDF icon [PDF] (177.06 KB)
F. Angelini, C. Della Santina,, Garabini, M., Bianchi, M., and Bicchi, A., Control architecture for human-like motion with applications to articulated soft robots, Frontiers in Robotics and AI, vol. 7, p. 117, 2020 [Online]. Available: icon control_human_like_1.pdf (4.71 MB)
A. Bicchi, Salisbury, J. K., and Brock, D. L., Contact Sensing from Force and Torque Measurements, The Int. J. of Robotics Research, vol. 12, pp. 249-262, 1993. PDF icon [PDF] (369.91 KB)
D. Prattichizzo and Bicchi, A., Consistent Specification of Manipulation Tasks for Defective Mechanical Systems, ASME Jour. Dynam. Systems, Measurement, and Control, vol. 119, pp. 767-777, 1997. PDF icon [PDF] (425.67 KB)
F. Pasqualetti, Bicchi, A., and Bullo, F., Consensus Computation in Unreliable Networks: A System Theoretic Approach, IEEE Transactions on Automatic Control, vol. 57, no. 1, pp. 90 - 104, 2012. PDF icon [PDF] (599.89 KB)