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2014
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)
M. Bianchi, Serio, A., Scilingo, E. P., and Bicchi, A., A Fabric-based Approach for Softness Rendering, in Multisensory Softness: Perceived Compliance from Multiple Sources of Information, vol. Springer Series on Touch and Haptic Systems, Springer-Verlag, 2014, pp. 219 - 240 [Online]. Available: http://link.springer.com/chapter/10.1007%2F978-1-4471-6533-0_11PDF icon [PDF] (20.39 MB)
M. Bonilla, Farnioli, E., Piazza, C., Catalano, M. G., Grioli, G., Garabini, M., Gabiccini, M., and Bicchi, A., Grasping with Soft Hands, in IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014), Madrid, Spain, November 18 - 20, 2014, pp. 581 - 587 [Online]. Available: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7041421&queryText%3DGrasping+with+Soft+HandsPDF icon [PDF] (4.39 MB)
G. Salvietti, Gioioso, G., Malvezzi, M., Prattichizzo, D., Serio, A., Farnioli, E., Gabiccini, M., Bicchi, A., Sarakoglou, I., Tsagarakis, N. G., and Caldwell, D. G., HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS, in Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project, vol. 94, 2014, pp. 197-215. PDF icon [PDF] (5.36 MB)
R. S. Jamisola, Kormushev, P., Bicchi, A., and Caldwell, D. G., Haptic Exploration of Unknown Surfaces with Discontinuities, in Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, 2014, pp. 1255 - 1260 [Online]. Available: http://kormushev.com/papers/Jamisola_IROS-2014.pdfPDF icon [PDF] (3.19 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. Settimi, Pavan, C., Varricchio, V., Ferrati, M., Mingo, E., Rocchi, A., Melo, K., Tsagarakis, N. G., and Bicchi, A., A modular approach for remote operation of humanoid robots in search and rescue scenarios , in Modelling & Simulation for Autonomous Systems - MESAS2014, Rome, 5-6 May 2014, 2014. PDF icon [PDF] (3.72 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)
K. Melo, Garabini, M., Grioli, G., Catalano, M. G., Malagia, L., and Bicchi, A., Open Source VSA-CubeBots for Rapid Soft Robot Prototyping , in Robot Makers - Workshop in conjunction with 2014 Robotics Science and Systems, July 12, 2014, Berkeley, California , 2014. PDF icon [PDF] (1.15 MB)
A. Serio, Riccomini, E., Tartaglia, V., Sarakoglou, I., Gabiccini, M., Tsagarakis, N. G., and Bicchi, A., The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps, in Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, 2014, pp. 1261 - 1268. PDF icon [PDF] (4.12 MB)
C. Castellini, Artemiadis, P., Wininger, M., A. Ajoudani, Alimusaj, M., Bicchi, A., Caputo, B., Craelius, W., Dosen, S., Englehart, K., Farina, D., Gijsberts, A., Godfrey, S. B., Hargrove, L., Ison, M., Kuiken, T., Markovic, M., Pilarski, P. M., Rupp, R., and Scheme, E., Peripheral Machine Interfaces: going beyond traditional surface electromyography, Frontiers in Neurorobotics, vol. 8, no. 22, pp. 1 - 17, 2014.
A. Dollar, Bicchi, A., Cutkosky, M., and Howe, D., Special Issue on the Mechanics and Design of Robotic Hands. 2014.
T. Menard, Grioli, G., and Bicchi, A., A Stiffness Estimator for Agonistic–Antagonistic Variable-Stiffness-Actuator Devices, IEEE Transactions on Robotics, vol. 30, no. 5, pp. 1269 - 1278 , 2014 [Online]. Available: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6860244&queryText%3DA+stiffness+estimator+for+AA-VSA+devicesPDF icon [PDF] (1.49 MB)
A. Serio, Bianchi, M., Gabiccini, M., and Bicchi, A., The tactile toolbox, in Haptics Symposium (HAPTICS), 2014 IEEE, Houston, TX, 2014.
E. Battaglia, Grioli, G., Catalano, M. G., Bianchi, M., Serio, A., Santello, M., and Bicchi, A., ThimbleSense: A new wearable tactile device for human and robotic fingers , in Haptics Symposium (HAPTICS), 2014 IEEE, Houston, TX, 2014. PDF icon [PDF] (5.1 MB)
E. Battaglia, Grioli, G., Catalano, M. G., Santello, M., and Bicchi, A., ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies, in IEEE International Conference on Robotics and Automation - ICRA 2014, Hong Kong, May 31 - June 7, 2014, 2014, pp. 2728 - 2735 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907250PDF icon [PDF] (2.83 MB)
A. Altobelli, Bianchi, M., Serio, A., Baud-Bovy, G., Gabiccini, M., and Bicchi, A., Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies, in 22nd Mediterranean Conference of Control and Automation (MED) 2014 , Palermo, Italy, 16-19 June 2014 , 2014, pp. 346 - 350 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6961395
A. Cristofaro, Salaris, P., Pallottino, L., Giannoni, F., and Bicchi, A., On Time-Optimal Trajectories for Differential Drive Vehicles with Field-Of-View Constraints, in IEEE Conference on Decision and Control (CDC2014), Los Angeles, USA, December 15-17, 2014, pp. 2191 - 2197 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7039723PDF icon [PDF] (1.13 MB)
J. Lee, A. Ajoudani, E. Hoffman, M., Rocchi, A., Settimi, A., Ferrati, M., Bicchi, A., Tsagarakis, N. G., and Caldwell, D. G., Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task, in IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014), Madrid, Spain, November 18 - 20, 2014, pp. 713 - 719 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041441PDF icon [PDF] (1.87 MB)
R. Krug, Stoyanov, T., Bonilla, M., Tincani, V., Vaskeviciusz, N., Fantoni, G., Birkz, A., Lilienthal, A., and Bicchi, A., Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces, in 2014 IEEE International Conference on Robotics and Automation, Hong Kong, May 31 2014-June 7 2014, 2014, pp. 3669 - 3675 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907390PDF icon [PDF] (1.39 MB)
E. Mingo, Traversaro, S., Rocchi, A., Ferrati, M., Settimi, A., Romano, F., Natale, L., Bicchi, A., Nori, F., and Tsagarakis, N. G., Yarp Based Plugins for Gazebo Simulator, in 2014 Modelling and Simulation for Autonomous Systems Workshop (MESAS), Roma, Italy, 5 -6 May 2014, 2014. PDF icon [PDF] (1.07 MB)
2013
F. A. W. Belo, Salaris, P., Fontanelli, D., and Bicchi, A., A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities, International Journal of Advanced Robotic Systems, vol. 10, no. 197, 2013 [Online]. Available: http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoingPDF icon [PDF] (333.24 KB)
V. Tincani, Grioli, G., Catalano, M. G., Bonilla, M., Garabini, M., Fantoni, G., and Bicchi, A., Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 5494 - 5499 [Online]. Available: http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6697152&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6697152PDF icon [PDF] (1.76 MB)
A. Serio, Bianchi, M., and Bicchi, A., A Device for Mimicking the Contact Force/Contact Area Relationship of Different Materials with Applications to Softness Rendering, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 4484 - 4490 . PDF icon [PDF] (9.72 MB)
M. Gabiccini, Farnioli, E., and Bicchi, A., Grasp Analysis Tools for Synergistic Underactuated Robotic Hands, International Journal of Robotic Reasearch, vol. 32, no. 13, pp. 1553 - 1576, 2013. PDF icon [PDF] (1.36 MB)
E. Farnioli, Gabiccini, M., Bonilla, M., and Bicchi, A., Grasp Compliance Regulation in Synergistically Controlled Robotic Hands with VSA, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 3015 -3022. PDF icon [PDF] (808.46 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)
V. Tincani, Grioli, G., Catalano, M. G., Garabini, M., Grechi, S., Fantoni, G., and Bicchi, A., Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 2744 - 2750 [Online]. Available: 10.1109/ICRA.2013.6630955 PDF icon [PDF] (1.32 MB)
D. Prattichizzo, Malvezzi, M., Gabiccini, M., and Bicchi, A., On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies, IEEE Transactions on Robotics, vol. 29, no. 6, pp. 1440 - 1456 , 2013. PDF icon [PDF] (1.59 MB)
A. Leo, Feurra, M., Rossi, S., Kappers, A., Bicchi, A., Prattichizzo, D., Cristea, I., David, D., Pietrini, P., and Ricciardi, E., Neural correlates of haptic pop-out of shape discrimination in the human brain, in 19th Annual Meeting of the Organization for Human Brain Mapping, Seattle, USA, June2013, 2013.

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