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Parametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots

TitleParametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots
Publication TypeConference Paper
Year of Publication2017
Conference Name18th International Symposium on Robotics Research
AuthorsMarcucci, T, Garabini, M, Gasparri, GM, Artoni, A, Gabiccini, M, Bicchi, A
Abstract

In this paper we propose a method for online motion planning of constrained nonlinear systems. The method consists of three steps: the offline generation of a library of parametric trajectories via direct trajectory optimization, the online search in the library for the best candidate solution to the optimal control problem we aim to solve, and the online refinement of this trajectory. The last phase of this process takes advantage of a sensitivity-like analysis and guarantees to comply with the first-order approximation of the constraints even in case of active set changes. Efficiency of the trajectory generation process is discussed and a valid strategy to minimize online computations is proposed; together with this, an effective procedure for searching the candidate trajectory is also presented. As a case study, we examine optimal control of a planar soft manipulator performing a pick-and-place task: through simulations and experiments, we show how crucial online computation times are to achieve considerable energy savings in the presence of variability of the task to perform.

Design of an under-actuated wrist based on adaptive synergies

TitleDesign of an under-actuated wrist based on adaptive synergies
Publication TypeConference Paper
Year of Publication2017
Conference NameRobotics and Automation (ICRA), 2017 IEEE International Conference on
Pagination6679–6686
AuthorsCasini, S, Tincani, V, Averta, G, Poggiani, M, C. Della Santina,, Battaglia, E, Catalano, MG, Bianchi, M, Grioli, G, Bicchi, A
PublisherIEEE
Abstract

An effective robotic wrist represents a key en- abling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under- actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we intro- duce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

Autonomous 3D exploration of large areas: A cooperative frontier-based approach

TitleAutonomous 3D exploration of large areas: A cooperative frontier-based approach
Publication TypeConference Paper
Year of Publication2018
Conference NameInternational Conference on Modelling and Simulation for Autonomous Systems
Edited Volume10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in
Pagination18-39
AuthorsMannucci, A, Nardi, S, Pallottino, L
Notes

Cited By :1

DOI10.1007/978-3-319-76072-8_2

Design of an indoor autonomous robot navigation system for unknown environments

TitleDesign of an indoor autonomous robot navigation system for unknown environments
Publication TypeConference Paper
Year of Publication2018
Conference NameInternational Conference on Modelling and Simulation for Autonomous Systems
Edited Volume10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in
Pagination153-169
AuthorsSilvestri, L, Pallottino, L, Nardi, S
Notes

Cited By :1

DOI10.1007/978-3-319-76072-8_11

From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands

TitleFrom humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands
Publication TypeConference Paper
Year of Publication2017
Conference NameUltra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017 9th International Congress on
Pagination179–184
AuthorsAverta, G, C. Della Santina,, Battaglia, E, Ciotti, S, Arapi, V, Fani, S, Bianchi, M
PublisherIEEE
Conference LocationMunich
Abstract

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.

Notes

This work has been awarded with the "Best Student Paper Award" and the "Best Paper in Session - Robotics"

Dynamic Control of Soft Robots Interacting with the Environment

TitleDynamic Control of Soft Robots Interacting with the Environment
Publication TypeConference Paper
Year of PublicationIn Press
Conference NameIEEE International Conference on Soft Robotics
AuthorsC. Della Santina,, Katzschmann, RK, Bicchi, A, Rus, D
PublisherIEEE
Conference Location24 - 28 April 2018, Livorno, Italy
KeywordsRobotics
Abstract

Despite the emergence of many soft-bodied robotic

systems, model-based feedback control has remained an open

challenge. This is largely due to the intrinsic difficulties in

designing controllers for systems with infinite dimensions. In

this paper we propose an alternative formulation of the soft

robot dynamics which connects the robot’s behavior with the

one of a rigid bodied robot with elasticity in the joints. The

matching between the two system is exact under the common

hypothesis of Piecewise Constant Curvature. Based on this

connection we introduce two control architectures, with the

aim of achieving accurate curvature control and Cartesian

regulation of the robot’s impedance, respectively. The curvature

controller accounts for the natural softness of the system,

while the Cartesian controller adapts the impedance of the

end effector for interactions with an unstructured environment.

This work proposes the first closed loop dynamic controller

for a continuous soft robot. The controllers are validated

and evaluated on a physical soft robot capable of planar

manipulation.

Refereed DesignationRefereed

Lower instantaneous entropy of heartbeat dynamics during seizures in untreated temporal lobe epilepsy

TitleLower instantaneous entropy of heartbeat dynamics during seizures in untreated temporal lobe epilepsy
Publication TypeConference Paper
Year of Publication2015
Conference NameComputing in Cardiology Conference (CinC), 2015
Pagination1037–1040
AuthorsBarbieri, R, Valenza, G, Citi, L, Placidi, F, Izzi, F, Albanese, M, Marciani, M, Guerrisi, M, Romigi, A, Toschi, N
PublisherIEEE
KeywordsBioengineering
Refereed DesignationRefereed

Removing movement artifacts from equine ECG recordings acquired with textile electrodes

TitleRemoving movement artifacts from equine ECG recordings acquired with textile electrodes
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination1955–1958
AuthorsLanata, A, Guidi, A, Baragli, P, Paradiso, R, Valenza, G, Scilingo, EP
PublisherIEEE
KeywordsBioengineering
Refereed DesignationRefereed

Towards the development of an EIT-based stretchable sensor for multi-touch industrial human-computer interaction systems

TitleTowards the development of an EIT-based stretchable sensor for multi-touch industrial human-computer interaction systems
Publication TypeConference Paper
Year of Publication2016
Conference NameCross-Cultural Design 8th International Conference, CCD 2016, Held as Part of HCI International 2016, Toronto, ON, Canada, July 17-22, 2016, Proceedings
Edited Volume9741
Pagination563–573
AuthorsRusso, S, Nefti-meziani, S, Gulrez, T, Carbonaro, N, Tognetti, A
PublisherSpringer Verlag
Conference LocationDordrecht
KeywordsComputer Science (all), Theoretical Computer Science
URLhttp://springerlink.com/content/0302-9743/copyright/2005/
DOI10.1007/978-3-319-40093-855
Refereed DesignationRefereed

A preliminary framework for a social robot “sixth sense”

TitleA preliminary framework for a social robot “sixth sense”
Publication TypeConference Paper
Year of Publication2016
Conference NameBiomimetic and Biohybrid Systems 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings
Edited Volume9793
Pagination58–70
AuthorsCominelli, L, Mazzei, D, Carbonaro, N, Garofalo, R, Zaraki, A, Tognetti, A, De Rossi, D
PublisherSpringer Verlag
Conference LocationDordrecht
KeywordsAffective computing, Behaviour monitoring, Computer Science (all), human-robot interaction, social robotics, Synthetic tutor, Theoretical Computer Science
URLhttp://springerlink.com/content/0302-9743/copyright/2005/
DOI10.1007/978-3-319-42417-0_6
Refereed DesignationRefereed

A Quantitative Evaluation of Drive Patterns in Electrical Impedance Tomography

TitleA Quantitative Evaluation of Drive Patterns in Electrical Impedance Tomography
Publication TypeConference Paper
Year of Publication2016
Conference NameProceedings of the 6th EAI International Conference on Wireless Mobile Communication and Healthcare
Pagination337–344
AuthorsRusso, S, Carbonaro, N, Tognetti, A, Nefti-meziani, S
Keywordsdrive patterns, EIT, Electrical impedance tomography, stretchable sensors
DOI10.1007/978-3-319-58877-3
Refereed DesignationRefereed

A highly stretchable artificial sensitive skin using EIT

TitleA highly stretchable artificial sensitive skin using EIT
Publication TypeConference Paper
Year of Publication2016
Conference NameBook of abstracts: 16th International Conference on Electrical Bio-Impedance, 17th International Conference on Electrical Impedance Tomography. ICEBI and EIT Stockholm 19–23 June 2016
Pagination132–132
AuthorsRusso, S, Tognetti, A, Carbonaro, N, Nefti-meziani, S
PublisherKarolinska Institutet
Conference LocationStoccolma
URLhttp://www.icebi2016.org/images/ICEBI_2016_web.pdf
Refereed DesignationRefereed

Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery

TitleCharacterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery
Publication TypeConference Paper
Year of Publication2017
Conference NameProceedings of the second International Conference on Medical Information and Bioengineering
AuthorsSantos, L, Carbonaro, N, Tognetti, A, Gonzales, R, Fraile, JC, Turiel, JP, De La Fuente, E
Abstract

The past thirty years have seen increasingly rapid advances in the field of laparoscopic surgery, in part because of the use of robots. A well-known example is the da Vinci surgical system. However, far too little attention has been paid to Hand Assisted Laparoscopic Surgery (HALS), a surgery in which the surgeon introduces the non-dominant hand into the abdomen of the patient. The risk of collision between the hand of the surgeon and the tool moved by the robot is the reason why these robots for laparoscopic surgery are not appropriate for HALS. On the other hand, in recent years, there has been an increasing interest in wearables, which have been introduced in our daily life. This interest and the lack of surgery robots for HALS are the reasons to develop a sensing glove which co-works whit a collaborative robot in this kind of surgery. The aim of this paper is to study the use of a sensing glove which will provide information of the movements of the surgeon’s hand to the collaborative robot. This information determinates the actions that the robot will carry on. The first step was to define different movements of the hand which could be identified. An algorithm identifies these movements using the data given by the sensing glove. For the purpose of algorithm accuracy measurement, 4 persons wearing the sensing glove made a sequence with different movements. The evidence from this study suggests that a sensing glove can be used to send information of the movements of the surgeon’s hand to a collaborative robot during a HALS.

Refereed DesignationRefereed

Estimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands

TitleEstimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands
Publication TypeConference Paper
Year of Publication2017
Conference NameIEEE International Conference of Intelligent Robots and Systems (IROS2017)
AuthorsC. Della Santina,, Piazza, C, Santaera, G, Grioli, G, Catalano, MG, Bicchi, A
PublisherIEEE
Conference LocationVancouver, Canada, September 24–28, 2017
KeywordsRobotics
Refereed DesignationRefereed

Design, control and validation of the variable stiffness exoskeleton FLExo

TitleDesign, control and validation of the variable stiffness exoskeleton FLExo
Publication TypeConference Paper
Year of Publication2017
Conference NameInternational Conference on Rehabilitation Robotics (ICORR)
Pagination539 - 546
AuthorsMghames, S, Laghi, M, C. Della Santina,, Garabini, M, Catalano, MG, Grioli, G, Bicchi, A
PublisherIEEE
Conference LocationLondon, UK, 17-20 July 2017
Accession Number17101547
KeywordsRobotics
Abstract

In this paper we present the design of a one degree of freedom assistive platform to augment the strength of upper limbs. The core element is a variable stiffness actuator, closely reproducing the behavior of a pair of antagonistic muscles. The novelty introduced by this device is the analogy of its control parameters with those of the human muscle system, the threshold lengths. The analogy can be obtained from a proper tuning of the mechanical system parameters. Based on this, the idea is to control inputs by directly mapping the estimation of the muscle activations, e.g. via ElectroMyoGraphic(EMG) sensors, on the exoskeleton. The control policy resulting from this mapping acts in feedforward in a way to exploit the muscle-like dynamics of the mechanical device. Thanks to the particular structure of the actuator, the exoskeleton joint stiffness naturally results from that mapping. The platform as well as the novel control idea have been experimentally validated and the results show a substantial reduction of the subject muscle effort.

URLhttp://ieeexplore.ieee.org/document/8009304/
DOI10.1109/ICORR.2017.8009304
Refereed DesignationRefereed

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