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Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units

TitleComparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units
Publication TypeConference Paper
Year of Publication2019
Conference Name18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
AuthorsKieliba, PJ, Veltink, PH, T. Baldi, L, Pratichizzo, D, Santaera, G, Bicchi, A, Bianchi, M, Van Beijnum, BJF
URLhttps://ieeexplore.ieee.org/document/8624929
DOI10.1109/HUMANOIDS.2018.8624929

A Planning and Control System for Self-Driving Racing Vehicles

TitleA Planning and Control System for Self-Driving Racing Vehicles
Publication TypeConference Paper
Year of Publication2018
Conference Name2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI)
Pagination1-6
Date PublishedSept
AuthorsCaporale, D, Fagiolini, A, Pallottino, L, Settimi, A, Biondo, A, Amerotti, F, Massa, F, De Caro, S, Corti, A, Venturini, L
Conference LocationPalermo, Italy
DOI10.1109/RTSI.2018.8548444

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 Publication2018
Conference NameIEEE International Conference on Soft Robotics
Date Published07/2018
AuthorsC. Della Santina,, Katzschmann, RK, Bicchi, A, Rus, D
PublisherIEEE
Conference Location24 - 28 April 2018, Livorno, Italy
KeywordsRobotics
URLhttps://ieeexplore.ieee.org/abstract/document/8404895
DOI10.1109/ROBOSOFT.2018.8404895
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

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