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Force and Dynamic Manipulability for Cooperating Robot Systems

Title	Force and Dynamic Manipulability for Cooperating Robot Systems
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
Publication Language	eng
Authors	Bicchi, A, Prattichizzo, D, Melchiorri, C
Keywords	Haptics, Robot Arms, Robot Hands

Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons' haptic percetion of manipulated tissues

Title	Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons' haptic percetion of manipulated tissues
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE Int. Conf. Engineering in Medicine and Biology
Publication Language	eng
Authors	Scilingo, EP, De Rossi, D, Bicchi, A, Iaccone, P
Conference Location	Chicago
Keywords	Haptics, Sensors

Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments

Title	Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems
Publication Language	eng
Authors	Scilingo, EP, De Rossi, D, Bicchi, A, Iaccone, P
Conference Location	Dallas
Keywords	Bioengineering, Haptics, Robotics

On the Geometric Control of Internal Forces in Power Grasp

Title	On the Geometric Control of Internal Forces in Power Grasp
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. Conf. on Decision and Control
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Keywords	Grasping, Robot Arms, Robot Hands

On the Decoupling and Output Functional Controllability of Robotic Manipulation

Title	On the Decoupling and Output Functional Controllability of Robotic Manipulation
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IFAC Int. Symp. on Robot Control
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Keywords	Grasping, Robot Arms, Robot Hands

Geometric Control Techniques for Mechanical Systems

Title	Geometric Control Techniques for Mechanical Systems
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Int. Conf. Italian Association for Theretical and Applied Mechanics
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Conference Location	Siena, Italia, september 29 - October 3 1997
Keywords	Haptics, Robotics

Geometric Control Techniques for Manipulation Systems

Title	Geometric Control Techniques for Manipulation Systems
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proceeding Int. Conf. Computer Integrated Systems
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Conference Location	Belfort, France
Keywords	Haptics, Robotics

Interactive Benchmark for Planning Algorithms on the Web

Title	Interactive Benchmark for Planning Algorithms on the Web
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Pagination	399-404
Publication Language	eng
Authors	Piccinocchi, S, Ceccarelli, M, Piloni, F, Bicchi, A
Keywords	Autonomous Vehicles, Navigation and Planning, Telelab

Manipulation of polyhedral parts by rolling

Title	Manipulation of polyhedral parts by rolling
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Publication Language	eng
Authors	Marigo, A, Chitour, Y, Bicchi, A
Keywords	Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems

Dynamic force/torque sensors: theory and experiments

Title	Dynamic force/torque sensors: theory and experiments
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. Int. Conference on Advanced Robotics
Pagination	727-732
Publication Language	eng
Authors	Bicchi, A, Caiti, A, Prattichizzo, D
Conference Location	Monterey, CA, USA
Keywords	Sensors
Abstract	Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy

Title	Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Publication Language	eng
Authors	Bicchi, A, Balluchi, A, Prattichizzo, D, Gorelli, A
Keywords	Autonomous Vehicles, Nonlinear Control Systems

Necessary and Sufficient Dominance Conditions for Robust Decentralization of VS Tracking Control

Title	Necessary and Sufficient Dominance Conditions for Robust Decentralization of VS Tracking Control
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. European Control Conference
Publication Language	eng
Authors	Balluchi, A, Bicchi, A
Keywords	Hybrid and Embedded Control Systems, Nonlinear Control Systems

Optimal Design of Dynamic Force/Torque Sensors

Title	Optimal Design of Dynamic Force/Torque Sensors
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proceeding Int. Conf. Computer Integrated Systems
Publication Language	eng
Authors	Bicchi, A, Caiti, A, Prattichizzo, D
Conference Location	Belfort, France
Keywords	Robotics

Consistent Specification of Manipulation Tasks for Defective Mechanical Systems

Title	Consistent Specification of Manipulation Tasks for Defective Mechanical Systems
Publication Type	Journal Article
Year of Publication	1997
Authors	Prattichizzo, D, Bicchi, A
Journal	ASME Jour. Dynam. Systems, Measurement, and Control
Volume	119
Pagination	767-777
Date Published	December
Keywords	Grasping, Robot Arms, Robot Hands

Rolling Polyhedra on a Plane: Analysis of the Reachable Set

Title	Rolling Polyhedra on a Plane: Analysis of the Reachable Set
Publication Type	Book Chapter
Year of Publication	1997
Authors	Chitour, Y, Marigo, A, Prattichizzo, D, Bicchi, A
Editor	Laumond, JP, Overmars, M
Book Title	Algorithms for Robotic Motion and Manipulation
Pagination	277-286
Publisher	A. K. Peters
City	Wellesley, MA, U.S.A.
Keywords	Embedded Control, Robotics

On some structural properties of general manipulation systems

Title	On some structural properties of general manipulation systems
Publication Type	Book Chapter
Year of Publication	1997
Authors	Bicchi, A, Prattichizzo, D
Editor	Astolfi, A, Limebeer, DJN, Melchiorri, C, Tornambèe, A, Vinter, RB
Book Title	Modelling and Control of Mechanichal Systems
Pagination	187-202
Publisher	Imperial College Press
City	London, U.K.
Keywords	Haptics, Robotics

Robotic Dexterity via Nonholonomy

Title	Robotic Dexterity via Nonholonomy
Publication Type	Book Chapter
Year of Publication	1997
Authors	Bicchi, A, Marigo, A, Prattichizzo, D
Editor	Siciliano, B, Valavanis, K
Book Title	Control Problems in Robotics and Automation
Series Title	LNCIS 230
Pagination	35-49
Publisher	Springer Verlag
City	Berlin Heidelberg, Germany
Keywords	Haptics, Robotics

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