Search


Show only items where

Combining electroencephalographic activity and instantaneous heart rate for assessing brain–heart dynamics during visual emotional elicitation in healthy subjects

TitleCombining electroencephalographic activity and instantaneous heart rate for assessing brain–heart dynamics during visual emotional elicitation in healthy subjects
Publication TypeJournal Article
Year of Publication2016
AuthorsValenza, G, Greco, A, Gentili, C, Lanatà, A, Sebastiani, L, Menicucci, D, Gemignani, A, Scilingo, EP
JournalPhil. Trans. R. Soc. A
Volume374
Pagination20150176
KeywordsBioengineering
Refereed DesignationRefereed

A bi-articular model for scapular-humeral rhythm reconstruction through data from wearable sensors

TitleA bi-articular model for scapular-humeral rhythm reconstruction through data from wearable sensors
Publication TypeJournal Article
Year of Publication2016
AuthorsLorussi, F, Carbonaro, N, De Rossi, D, Tognetti, A
JournalJOURNAL OF NEUROENGINEERING AND REHABILITATION
Volume13
Pagination1–13
KeywordsHand posture estimation, Reaching activity, Scapular girdle movement, Scapular-humeral rhythm, Wearable sensing
URLhttps://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-016-0149-2
DOI10.1186/s12984-016-0149-2
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

Wearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions

TitleWearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions
Publication TypeJournal Article
Year of Publication2016
AuthorsLorussi, F, Carbonaro, N, De Rossi, D, Paradiso, R, Veltink, P, Tognetti, A
JournalFRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
Volume4
Pagination1–28
Keywordsambulatory monitoring, data fusion, gait, Grasping, reaching, stroke rehabilitation, wearable sensors
DOI10.3389/fbioe.2016.00028
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

Assessment of a Smart Sensing Shoe for Gait Phase Detection in Level Walking

TitleAssessment of a Smart Sensing Shoe for Gait Phase Detection in Level Walking
Publication TypeJournal Article
Year of Publication2016
AuthorsCarbonaro, N, Lorussi, F, Tognetti, A
JournalELECTRONICS
Volume5
Pagination1–15
Keywordsaccelerometers, force sensors, gait cycle, gait phase, smart shoe, walking, wearable technology
URLhttp://www.mdpi.com/2079-9292/5/4/78
DOI10.3390/electronics5040078
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

Teleimpedance Control: Overview and application

TitleTeleimpedance Control: Overview and application
Publication TypeBook Chapter
Year of Publication2016
AuthorsA. Ajoudani, Godfrey, SB, Tsagarakis, NG, Bicchi, A
Book TitleHuman and Robot Hands
VolumeSpringer Series on Touch and Haptic Systems
Chapter9
Pagination151-169
ISBN978-3-319-26705-0
KeywordsRobotics
Abstract

In previous chapters, human hand and arm kinematics have been analyzed through a synergstic approach and the underlying concepts were used to design robotic systems and devise simplified control algorithms. On the other hand, it is well-known that synergies can be studied also at a muscular level as a coordinated activation of multiple muscles acting as a single unit to generate different movements. As a result, muscular activations, quantified through Electromyography (EMG) signals can be then processed and used as direct inputs to external devices with a large number of DOFs. In this chapter, we present a minimalistic approach based on tele-impedance control, where EMGs from only one pair of antagonistic muscle pair are used to map the users postural and stiffness references to the synergy-driven anthropomorphic robotic hand, described in chapter 6. In this direction, we first provide an overview of the teleimpedance control concept which forms the basis for the development of the hand controller. Eventually, experimental results evaluate the effectiveness of the teleimpedance control concept in execution of the tasks which require significant dynamics variation or are executed in remote environments with dynamic uncertainties.

DOI10.1007/978-3-319-26706-7
Refereed DesignationRefereed

Soft Robots that Mimic the Neuromusculoskeletal System

TitleSoft Robots that Mimic the Neuromusculoskeletal System
Publication TypeConference Paper
Year of Publication2016
Conference Name3rd International Conference on NeuroRehabilitation (ICNR2016)
Edited VolumeConverging Clinical and Engineering Research on Neurorehabilitation
Pagination259-263
Date Published10/2016
Publication Languageenglish
AuthorsGarabini, M, C. Della Santina,, Bianchi, M, Catalano, MG, Grioli, G, Bicchi, A
PublisherSpringer
KeywordsRobotics
Abstract

In motor control studies, the question on which
parameters human beings and animals control through their
nervous system has been extensively explored and discussed,
and several hypotheses proposed. It is widely acknowledged
that useful inputs in this problem could be provided by
developing artificial replication of the neuromusculoskeletal
system, to experiment different motor control hypothesis. In
this paper we present such device, which reproduces many of
the characteristics of an agonistic-antagonistic muscular pair
acting on a joint.

URLhttp://link.springer.com/chapter/10.1007/978-3-319-46669-9_45
DOI10.1007/978-3-319-46669-9_45
Refereed DesignationRefereed

Development of a robotic teaching interface for human to human skill transfer

TitleDevelopment of a robotic teaching interface for human to human skill transfer
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Conference on Intelligent Robots and Systems
Pagination710-716
Date Published11/2016
Publication Languageenglish
AuthorsYang, C, Liang, P, A. Ajoudani, Li, Z, BIcchi, A
PublisherIEEE
Conference LocationDanjeon, Korea
KeywordsRobotics
URLhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85006355804&doi=10.1109%2fIROS.2016.7759130&partnerID=40&md5=7f982e3eb493c1a6047d1dcc2acbe208
DOI10.1109/IROS.2016.7759130
Refereed DesignationRefereed

Variable Stiffness Actuators: Review on Design and Components

TitleVariable Stiffness Actuators: Review on Design and Components
Publication TypeJournal Article
Year of Publication2016
AuthorsWolf, S, Grioli, G, Eiberger, O, Friedl, W, Grebenstein, M, Hoppner, H, Burdet, E, Caldwell, DG, Carloni, R, Catalano, MG, Lefeber, D, Stramigioli, S, Tsagarakis, NG, Damme, VM, Ham, VR, Vanderborght, B, Visser, LC, Bicchi, A, Albu-Schaeffer, A
Journal IEEE/ASME Transactions on Mechatronics
Volume21
Issue5
Pagination2418 - 2430
Date Published10/2016
KeywordsRobotics
Abstract

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7330025
DOI10.1109/TMECH.2015.2501019
Refereed DesignationRefereed

On the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis

TitleOn the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis
Publication TypeConference Proceedings
Year of Publication2016
AuthorsNardelli, M, Greco, A, Bianchi, M, Scilingo, EP, Valenza, G
Conference NameIEEE Engineering in Medicine and Biology Society (EMBC 2016)
Conference LocationOrlando, USA, August 16-20, 2016

Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study

TitleInfluence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study
Publication TypeConference Paper
Year of Publication2016
Conference NameEngineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference
AuthorsGodfrey, SB, Bianchi, M, Bicchi, A, Santello, M
Conference LocationOrlando, USA, August 16-20, 2016
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957
DOI10.1109/EMBC.2016.7591957

Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating A ective Physiology in Human-Robot Interaction

TitleTowards a Novel Generation of Haptic and Robotic Interfaces: Integrating A ective Physiology in Human-Robot Interaction
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2016.
AuthorsBianchi, M, Valenza, G, Greco, A, Nardelli, M, Battaglia, E, Bicchi, A, Scilingo, EP
Conference LocationNew York, August 26-31, 2016
Notes
This work is supported in part by the European Re-
search Council under the Advanced Grant SoftHands “A
Theory of Soft Synergies for a New Generation of Artificial
Hands” (no. ERC-291166), by the EU FP7 project “WEAR-
able HAPtics for Humans and Robots (WEARHAP)” (no.
601165) and by the EU H2020 project “SoftPro: Synergy-
based Open-source Foundations and Technologies for Pros-
thetics and RehabilitatiOn” (H2020-ICT-688857).
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7745100
DOI10.1109/ROMAN.2016.7745100

A bioreactor with an electro-responsive elastomeric membrane for mimicking intestinal peristalsis

TitleA bioreactor with an electro-responsive elastomeric membrane for mimicking intestinal peristalsis
Publication TypeJournal Article
Year of Publication2016
AuthorsCei, D, Costa, J, Gori, G, Frediani, G, Domenici, C, Carpi, F, Ahluwalia, A
JournalBioinspiration & Biomimetics
Volume12
Issue1
Abstract

This study describes an actuated bioreactor which mimics the pulsatile contractile motion of the intestinal barrier using electro-responsive elastomers as smart materials that undergo deformation upon electrical stimulation. The device consists of an annular dielectric elastomer actuator working as a radial artificial muscle able to rhythmically contract and relax a central cell culture well. The bioreactor maintained up to 4 h of actuation at a frequency of 0.15 Hz and a strain of 8%–10%, to those of the cyclic contraction and relaxation of the small intestine. In vitro tests demonstrated that the device was biocompatible and cell-adhesive for Caco-2 cells, which formed a confluent monolayer following 21 days of culture in the central well. In addition, cellular adhesion and cohesion were maintained after 4 h of continuous cyclic strain. These preliminary results encourage further investigations on the use of dielectric elastomer actuation as a versatile technology that might overcome the limitations of commercially available pneumatic driving systems to obtain bioreactors that can cyclically deform cell cultures in a biomimetic fashion.

URLhttp://iopscience.iop.org/article/10.1088/1748-3190/12/1/016001/pdf
Refereed DesignationRefereed

Motion Primitive Based Random Planning for Loco–Manipulation Tasks

TitleMotion Primitive Based Random Planning for Loco–Manipulation Tasks
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Conference on Humanoid Robots (HUMANOIDS 2016)
AuthorsSettimi, A, Caporale, D, Kryczka, P, Ferrati, M, Pallottino, L
PublisherIEEE
Conference LocationCancun, Mexico, 15-17 Nov. 2016
ISBN Number978-1-5090-4718-5
KeywordsRobotics
Abstract

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco–manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole–body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco–manipulation tasks.

Notes
This work is supported by the European commission project Walk-Man EU FP7-ICT no. 611832 and the ECs Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727 (CogIMon)
URLhttp://ieeexplore.ieee.org/document/7803402/
DOI10.1109/HUMANOIDS.2016.7803402
Refereed DesignationRefereed

Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios

TitleRobust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Conference on Humanoid Robots (HUMANOIDS2016)
AuthorsGasparri, GM, Fabiani, F, Garabini, M, Pallottino, L, Catalano, MG, Grioli, G, Persichini, R, Bicchi, A
PublisherIEEE
Conference LocationCancun, Mexico, 15-17 Nov. 2016
ISBN Number978-1-5090-4718-5
KeywordsRobotics
Abstract

Compliance in robot design and control is often introduced to improve the robot performance in tasks where interaction with environment or human is required. However a rigorous method to choose the correct level of compliance is still not available. In this work we use robust optimization as a tool to select the optimal compliance value in a robotenvironment interaction scenario under uncertainties. We propose an approach that can be profitably applied on a variety of tasks, e.g.manipulation tasks or locomotion tasks. The aim is to minimize the forces of interaction considering model constraints and uncertainties. Numerical results show that: i) in case of perfect knowledge of the environment stiff robots behave better in terms of force minimization, ii) in case of uncertainties the optimal stiffness of the robot is lower than the previous case and optimal solutions provide a faster task accomplishment, iii) the optimal stiffness decreases as a function of the uncertainty measure. Experiments are carried out in a realistic set-up in case of bi-manual object handover.

Notes
This work was supported by the European Commission projects (FP7 framework) Walk-Man and the European Commission Grant no. H2020- ICT-645599 “SOMA”: SOft MAnipulation
URLhttp://ieeexplore.ieee.org/document/7803381/
DOI10.1109/HUMANOIDS.2016.7803381
Refereed DesignationRefereed

Quasi-Static Analysis of Synergistically Underactuated Robotic Hands in Grasping and Manipulation Tasks

TitleQuasi-Static Analysis of Synergistically Underactuated Robotic Hands in Grasping and Manipulation Tasks
Publication TypeBook Chapter
Year of Publication2016
AuthorsFarnioli, E, Gabiccini, M, Bicchi, A
Book TitleHuman and Robot Hands
VolumeSpringer Series on Touch and Haptic Systems
Pagination211-233
PublisherSpringer
ISBN978-3-319-26705-0
Abstract

As described in Chaps. 25, neuroscientific studies showed that the control of the human hand is mainly realized in a synergistic way. Recently, taking inspiration from this observation, with the aim of facing the complications consequent to the high number of degrees of freedom, similar approaches have been used for the control of robotic hands. As Chap. 12 describes SynGrasp, a useful technical tool for grasp analysis of synergy-inspired hands, in this chapter recently developed analysis tools for studying robotic hands equipped with soft synergy underactuation (see Chap. 8) are exhaustively described under a theoretical point of view. After a review of the quasi-static model of the system, the Fundamental Grasp Matrix (FGM) and its canonical form (cFGM) are presented, from which it is possible to extract relevant information as, for example, the subspaces of the controllable internal forces, of the controllable object displacements and the grasp compliance. The definitions of some relevant types of manipulation tasks (e.g. the pure squeeze, realized maintaining the object configuration fixed but changing contact forces, or the kinematic grasp displacements, in which the grasped object can be moved without modifying contact forces) are provided in terms of nullity or non-nullity of the variables describing the system. The feasibility of such predefined tasks can be verified thanks to a decomposition method, based on the search of the row reduced echelon form (RREF) of suitable portions of the solution space. Moreover, a geometric interpretation of the FGM and the possibility to extend the above mentioned methods to the study of robotic hands with different types of underactuation are discussed. Finally, numerical results are presented for a power grasp example, the analysis of which is initially performed for the case of fully-actuated hand, and later verifying, after the introduction of a synergistic underactuation, which capacities of the system are lost, and which other are still present.

Notes

This work was supported by the European Commission under the CP-IP grant
no. 248587 “THE Hand Embodied”, within the FP7-2007-2013 program, by the
grant no. 600918 “PaCMan” - Probabilistic and Compositional Representations of
Objects for Robotic Manipulation - within the FP7-ICT-2011-9 program, the grant
no. 611832 “Walk-Man” within the FP7-ICT-2013-10 program, and the grant no.
645599 “SOMA: Soft-bodied Intelligence for Manipulation”, funded under H2020-
EU-2115.

DOI10.1007/978-3-319-26706-7_13
Refereed DesignationRefereed

Synergy-Based Optimal Sensing Techniques for Hand Pose Reconstruction

TitleSynergy-Based Optimal Sensing Techniques for Hand Pose Reconstruction
Publication TypeBook Chapter
Year of Publication2016
AuthorsBianchi, M, Salaris, P, Bicchi, A
Book TitleHuman and Robot Hands
VolumeSpringer Series on Touch and Haptic Systems
Pagination259-283
PublisherSpringer
ISBN Number978-3-319-26705-0
Abstract

Most of the neuroscientific results on synergies and their technical implementations in robotic systems, which are widely discussed throughout this book (see e.g. Chaps. 2, 3, 4, 8, 10, 12 and 13), moved from the analysis of hand kinematics in free motion or during the interaction with the external environment. This observation motivates both the need for the development of suitable and manageable models for kinematic recordings, as described in Chap. 14, and the calling for accurate and economic systems or “gloves” able to provide reliable hand pose reconstructions. However, this latter aspect, which represents a challenging point also for many human-machine applications, is hardly achievable in economically and ergonomically viable sensing gloves, which are often imprecise and limited. To overcome these limitations, in this chapter we propose to exploit the bi-directional relationship between neuroscience and robotic/artificial systems, showing how the findings achieved in one field can inspire and be used to advance the state of art in the other one, and vice versa. More specifically, our leading approach is to use the concept of kinematic synergies to optimally estimate the posture of a human hand using non-ideal sensing gloves. Our strategy is to collect and organize synergistic information and to fuse it with insufficient and inaccurate glove measurements in a consistent manner and with no extra costs. Furthermore, we will push forward such an analysis to the dual problem of how to design pose sensing devices, i.e. how and where to place sensors on a glove, to get maximum information about the actual hand posture, especially with a limited number of sensors. We will study the optimal design of gloves of different nature. Conclusions that can be drawn take inspiration from and might inspire further investigations on the biology of human hand receptors. Experimental evaluations of these techniques are reported and discussed.

DOI10.1007/978-3-319-26706-7_15
Refereed DesignationRefereed

From Soft to Adaptive Synergies: The Pisa/IIT SoftHand

TitleFrom Soft to Adaptive Synergies: The Pisa/IIT SoftHand
Publication TypeBook Chapter
Year of Publication2016
AuthorsCatalano, MG, Grioli, G, Farnioli, E, Serio, A, Bonilla, M, Garabini, M, Piazza, C, Gabiccini, M, Bicchi, A
Book TitleHuman and Robot Hands
VolumeSpringer Series on Touch and Haptic Systems
Chapter101 - 125
PublisherSpringer
ISBN978-3-319-26705-0
Abstract

Taking inspiration from the neuroscientific findings on hand synergies discussed in the first part of the book, in this chapter we present the Pisa/IIT SoftHand, a novel robot hand prototype. The design moves under the guidelines of making an hardware robust and easy to control, preserving an high level of grasping capabilities and an aspect as similar as possible to the human counterpart. First, the main theoretical tools used to enable such simplification are presented, as for example the notion of soft synergies. A discussion of some possible actuation schemes shows that a straightforward implementation of the soft synergy idea in an effective design is not trivial. The proposed approach, called adaptive synergy, rests on ideas coming from underactuated hand design, offering a design method to implement the desired set of soft synergies as demonstrated both with simulations and experiments. As a particular instance of application of the synthesis method of adaptive synergies, the Pisa/IIT SoftHand is described in detail. The hand has 19 joints, but only uses one actuator to activate its adaptive synergy. Of particular relevance in its design is the very soft and safe, yet powerful and extremely robust structure, obtained through the use of innovative articulations and ligaments replacing conventional joint design. Moreover, in this work, summarizing results presented in previous papers, a discussion is presented about how a new set of possibilities is open from paradigm shift in manipulation approaches, moving from manipulation with rigid to soft hands.

DOI10.1007/978-3-319-26706-7_8
Refereed DesignationRefereed

Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot

TitleToward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot
Publication TypeConference Paper
Year of Publication2016
Conference NameIEEE International Conference of Intelligent Robots and Systems (IROS 2016)
AuthorsFarnioli, E, Gabiccini, M, Bicchi, A
PublisherIEEE
Conference LocationDanjeon, Korea, October 10-14 2016
KeywordsRobotics
Abstract

In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot is in contact with the environment also with the internal limbs, with a consequent loss of contact force controllability. Experimental tests were conducted with the Walk-Man robot (i) standing on flat terrain, (ii) standing on uneven terrain and (iii) interacting with the environment with both feet and a hand touching a vertical wall. Moreover, the influence of unmodeled weight on the robot, and the combination with a higher priority Cartesian tasks are shown. Results are presented also in the attached video.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759225
DOI10.1109/IROS.2016.7759225
Custom 1

softhands e walkman

Refereed DesignationRefereed

Toward an Adaptive Foot for Natural Walking

TitleToward an Adaptive Foot for Natural Walking
Publication TypeConference Paper
Year of Publication2016
Conference NameInternational Conference on Humanoid Robots (HUMANOIDS2016)
AuthorsPiazza, C, C. Della Santina,, Gasparri, GM, Catalano, MG, Grioli, G, Garabini, M, Bicchi, A
Conference LocationCancun, Mexico, November 15-17, 2016
KeywordsRobotics
Abstract

Many walking robot presented in literature stand
on rigid flat feet, with a few notable exceptions that embed
flexibility in their feet to optimize the energetic cost of walking.
This paper proposes a novel adaptive robot foot design, whose
main goal is to ease the task of standing and walking on uneven
terrains. After explaining the rationale behind our design
approach, we present the design of the SoftFoot, a foot able
to comply with uneven terrains and to absorb shocks thanks to
its intrinsic adaptivity, while still being able to rigidly support
the stance, maintaining a rather extended contact surface,
and effectively enlarging the equivalent support polygon. The
paper introduces the robot design and prototype and presents
preliminary validation and comparison versus a rigid flat foot
with comparable footprint and sole.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7803423
DOI10.1109/HUMANOIDS.2016.7803423
Refereed DesignationRefereed

APRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design

TitleAPRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design
Publication TypeConference Paper
Year of Publication2016
Conference NameInternational Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016
Edited Volume9991 of the book series Lecture Notes in Computer Science (LNCS)
Pagination139 - 157
AuthorsFerrarelli, A, Caporale, D, Settimi, A, Pallottino, L
PublisherSpringer
Conference LocationRome, Italy, June 15-16, 2016
KeywordsEmbedded Control, Robotics
Abstract

A novel MATLAB/Simulink based modeling and simulation environment for the design and rapid prototyping of state-of-the-art aircraft control systems is proposed. The toolbox, named APRICOT, is able to simulate the longitudinal and laterodirectional dynamics of an aircraft separately, as well as the complete 6 degrees of freedom dynamics. All details of the dynamics can be easily customized in the toolbox, some examples are shown in the paper. Moreover, different aircraft models can be easily integrated. The main goal of APRICOT is to provide a simulation environment to test and validate different control laws with different aircraft models. Hence, the proposed toolbox has applicability both for educational purposes and control rapid prototyping. With respect to similar software packages, APRICOT is customizable in all its aspects, and has been released as open source software. An interface with Flightgear Simulator allows for online visualization of the flight. Examples of control design with simulation experiments are reported and commented.

URLhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_11
DOI10.1007/978-3-319-47605-6_11
Refereed DesignationRefereed

Indoor Real-Time Localisation for Multiple Autonomous Vehicles Fusing Vision, Odometry and IMU Data

TitleIndoor Real-Time Localisation for Multiple Autonomous Vehicles Fusing Vision, Odometry and IMU Data
Publication TypeConference Paper
Year of Publication2016
Conference NameInternational Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016
Edited Volume9991 of the book series Lecture Notes in Computer Science (LNCS)
Pagination288 - 297
AuthorsFaralli, A, Giovannini, N, Nardi, S, Pallottino, L
PublisherSpringer
Conference LocationRome, Italy, June 15-16, 2016
KeywordsEmbedded Control, Robotics
Abstract

Due to the increasing usage of service and industrial autonomous vehicles, a precise localisation is an essential component required in many applications, e.g. indoor robot navigation. In open outdoor environments, differential GPS systems can provide precise positioning information. However, there are many applications in which GPS cannot be used, such as indoor environments. In this work, we aim to increase robot autonomy providing a localisation system based on passive markers, that fuses three kinds of data through extended Kalman filters. With the use of low cost devices, the optical data are combined with other robots’ sensor signals, i.e. odometry and inertial measurement units (IMU) data, in order to obtain accurate localisation at higher tracking frequencies. The entire system has been developed fully integrated with the Robotic Operating System (ROS) and has been validated with real robots.

 

URLhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_24
DOI10.1007/978-3-319-47605-6_24
Refereed DesignationRefereed

Assessing the Potential of Autonomous Multi-agent Surveillance in Asset Protection from Underwater Threats

TitleAssessing the Potential of Autonomous Multi-agent Surveillance in Asset Protection from Underwater Threats
Publication TypeConference Paper
Year of Publication2016
Conference NameInternational Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016
Edited Volume9991 of the book series Lecture Notes in Computer Science (LNCS)
Pagination204 - 213
AuthorsFabbri, T, Nardi, S, Isgrò, L, Pallottino, L, Caiti, A
PublisherSpringer
Conference LocationRome, Italy, June 15-16, 2016
Abstract

A Serious Game (SG) system for the assessment of the potential of the multi-vehicle surveillance is presented. The SG system is applied to the problem of protection of strategic assets from underwater asymmetric threats. The SG platform integrates the active sonar performance evaluator able to estimate the real performance on the basis of the environmental conditions. The final goal is to provide new technology tools to realize a Decision Support System (DDS) to support the design phase of a naval unit. The SG system is developed in the framework of the ProDifCon project supported by the (DLTM) (Italy).

URLhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_17
DOI10.1007/978-3-319-47605-6_17
Refereed DesignationRefereed

NoStop: An Open Source Framework for Design and Test of Coordination Protocol for Asymmetric Threats Protection in Marine Environment

TitleNoStop: An Open Source Framework for Design and Test of Coordination Protocol for Asymmetric Threats Protection in Marine Environment
Publication TypeConference Paper
Year of Publication2016
Conference NameInternational Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016
Edited Volume9991 of the book series Lecture Notes in Computer Science (LNCS)
Pagination176 - 185
AuthorsNardi, S, Pallottino, L
PublisherSpronger
Conference LocationRome, Italy, June 15-16, 2016
KeywordsEmbedded Control, Robotics
Abstract

NoStop is an open source simulator dedicated to distributed and cooperative mobile robotics systems. It has been designed as a framework to design and test multi–agent collaborative algorithms in terms of performance and robustness. The particular application scenario of a team of autonomous guards that coordinate to protect an area from asymmetric threat is considered. NoStop system is an integrated tool able to both evaluate the coordination protocol performance and to design the team of guards involved in the asymmetric threat protection. Moreover, NoStop is designed to validate robustness of coordination protocol through the use of a remote pilot that control the intruder motion to escape from the guards that monitor the area and accomplish its mission. The project core is a simulation server with a dynamic engine and a synchronization facility. Different coordination protocol can be designed and easily integrated in NoStop. The framework is fully integrated with the Robot Operating System (ROS) and it is completed by a control station where the remote pilot moves the intruder following the guards evolution in a 3D viewer.

URLhttp://link.springer.com/chapter/10.1007/978-3-319-47605-6_14
DOI10.1007/978-3-319-47605-6_14
Refereed DesignationRefereed