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In Press
Z. Li, Chen, Z., A. Ajoudani, Yang, C., Su, C., and Bicchi, A., Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations, IEEE Transactions on Robotics (T-RO) , In Press.
C. Della Santina, Katzschmann, R. K., Bicchi, A., and Rus, D., Dynamic Control of Soft Robots Interacting with the Environment, in IEEE International Conference on Soft Robotics, 24 - 28 April 2018, Livorno, Italy, In Press. PDF icon [PDF] (1.34 MB)
T. Stoyanov, Vaskeviciusz, N., Mueller, C. A., Fromm, T., Krug, R., Tincani, V., Mojtahedzadeh, R., Kunaschk, S., Ernits, R. M., Canelhas, D. R., Bonilla, M., Schwertfeger, S., Bonini, M., Halfar, H., Pathak, K., Rohde, M., Fantoni, G., Bicchi, A., Birk, A., Lilienthal, A., and Echelmeyer, W., No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem, IEEE Robotics and Automation Magazine, In Press.
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.
T. Marcucci, C. Della Santina,, Gabiccini, M., and Bicchi, A., Towards Minimum-Information Adaptive Controllers for Robot Manipulators, American Control Conference, AMC2017. May 24–26 2017, Seattle USA, In Press. PDF icon 2017_amc.pdf (924.22 KB)
2019
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)
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)
C. D. Santina, Arapi, V., Averta, G., Damiani, F., Fiore, G., Settimi, A., Catalano, M. G., Bacciu, D., Bicchi, A., and Bianchi, M., Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands, IEEE Robotics and Automation Letters, vol. 4, pp. 1533-1540, 2019. PDF icon 08629968.pdf (4.01 MB)
N. Colella, Bianchi, M., Grioli, G., Bicchi, A., and Catalano, M. G., A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars, IEEE Robotics and Automation Letters, vol. Volume: 4 , Issue: 2 , April 2019 , 2019. PDF icon 08629932.pdf (2.6 MB)
C. Fang, A. Ajoudani, Bicchi, A., and Tsagarakis, N. G., A real-time identification and tracking method for the musculoskeletal model of human arm, in 2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) , 2019.
S. Fani, Di Blasio, K., Bianchi, M., Catalano, M. G., Grioli, G., and Bicchi, A., Relaying the High-Frequency Contents of TactileFeedback to Robotic Prosthesis Users: Design,Filtering, Implementation, and Validation, IEEE Robotics and Automation Letters, vol. Volume: 4 , Issue: 2 , April 2019, 2019. PDF icon 08620535.pdf (2.27 MB)
S. Mghames, Catalano, M. G., Bicchi, A., and Grioli, G., A Spherical Active Joint for Humanoids and Humans, IEEE Robotics and Automation Letters, vol. Volume: 4 , Issue: 2 , April 2019, 2019.
A. Giannini, Bianchi, M., Doria, D., Fani, S., Caretto, M., Bicchi, A., and Simoncini, T., Wearable haptic interfaces for applications in gynecologic robotic surgery: a proof of concept in robotic myomectomy., Journal of Robotic Surgery , 2019. PDF icon giannini2019_article_wearablehapticinterfacesforapp.pdf (584.04 KB)
2018
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)
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)
M. Rossi, Bianchi, M., Battaglia, E., Catalano, M. G., and Bicchi, A., Hap-Pro: a wearable haptic device for proprioceptive feedback, IEEE Transactions on Biomedical Engineering, pp. 1-1, 2018. PDF icon final_version.pdf (6.56 MB)
F. Negrello, Settimi, A., Caporale, D., Lentini, G., Poggiani, M., Kanoulas, D., Muratore, L., Luberto, E., Santaera, G., Ciarleglio, L., Ermini, L., Pallottino, L., Caldwell, D. G., Tsagarakis, N., Bicchi, A., Garabini, M., and Catalano, M. G., Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario, IEEE Robotics Automation Magazine, pp. 1-1, 2018. PDF icon paper_ram_rev2.pdf (4.06 MB)
G. Averta, Angelini, F., Bonilla, M., Bianchi, M., and Bicchi, A., Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning, IEEE Robotics and Automation Letters, vol. 3, pp. 2686-2693, 2018. PDF icon averta_et_al2018.pdf (2.59 MB)
C. Della Santina, Piazza, C., Grioli, G., Catalano, M. G., and Bicchi, A., Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2, IEEE Transactions on Robotics, vol. Early Access, 2018. PDF icon softhand2_tro-ilovepdf-compressed.pdf (2.04 MB)
N. G. Tsagarakis, Negrello, F., Garabini, M., Choi, W., Baccelliere, L., Loc, V. G., Noorden, J., Catalano, M. G., Ferrati, M., Muratore, L., Kryczka, P., E. Hoffman, M., Settimi, A., Rocchi, A., Margan, A., Cordasco, S., Kanoulas, D., Cardellino, A., Natale, L., Dallali, H., Malzahn, J., Kashiri, N., Varricchio, V., Pallottino, L., Pavan, C., Lee, J., A. Ajoudani, Caldwell, D. G., and Bicchi, A., WALK-MAN Humanoid Platform, in The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, vol. 121, Springer, 2018, pp. 495–548. PDF icon walk-manhumanoidplatform_springer.pdf (3.5 MB)
2017
M. Laghi, A. Ajoudani, Catalano, M. G., and Bicchi, A., A Bilateral Tele-Impedance Controller for Remote Interaction with Transmission Time Delay, in IEEE International Conference of Intelligent Robots and Systems (IROS2017), Vancouver, Canada, September 24–28, 2017, 2017. PDF icon [PDF] (4.24 MB)
I. Herreros, Arsiwalla, X. D., C. Della Santina,, Puigbo, J. - Y., Bicchi, A., and Verschure, P. F. M. J., Cerebellar-Inspired Learning Rule for Gain Adaptation of Feedback Controllers, in IEEE Mediterranean Conference on Control and Automation, 3-6 July 2017 in Valletta, Malta, 2017. PDF icon [PDF] (1.03 MB)
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)
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: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438PDF icon [PDF] (1.22 MB)
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: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7944582
F. Negrello, Catalano, M. G., Garabini, M., Poggiani, M., Caldwell, D. G., Tsagarakis, N. G., and Bicchi, A., Design and characterization of a novel high-compliance spring for robots with soft joints, in IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, 3-7 July 2017, 2017 [Online]. Available: http://ieeexplore.ieee.org/document/8014029/PDF icon [PDF] (3.85 MB)
S. Mghames, Laghi, M., C. Della Santina,, Garabini, M., Catalano, M. G., Grioli, G., and Bicchi, A., Design, control and validation of the variable stiffness exoskeleton FLExo, in International Conference on Rehabilitation Robotics (ICORR), London, UK, 17-20 July 2017, 2017, pp. 539 - 546 [Online]. Available: http://ieeexplore.ieee.org/document/8009304/PDF icon [PDF] (1.9 MB)
S. Casini, Tincani, V., Averta, G., Poggiani, M., C. Della Santina,, Battaglia, E., Catalano, M. G., Bianchi, M., Grioli, G., and Bicchi, A., Design of an under-actuated wrist based on adaptive synergies, in Robotics and Automation (ICRA), 2017 IEEE International Conference on, 2017, pp. 6679–6686. PDF icon 07989789.pdf (1.08 MB)

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