@conference {2181, title = {Shaping of foam-like materials through the use of a sonotrode}, booktitle = { International Conference On Innovative Design And Manufacturing}, year = {2014}, address = {Montreal, Quebec, Canada, August 13-15}, keywords = {Robotics}, author = {G Fantoni and Tilli, J. and F. A. W. Belo and Ishak, R.} } @article {1725, title = {A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities}, journal = {International Journal of Advanced Robotic Systems}, volume = {10}, year = {2013}, abstract = {

This paper presents an analysis of planar bearing localization and mapping for visual servoing with known camera velocities. In particular, we investigate what is the subset of camera locations and environmental features that can be retrieved from dynamic observations obtained by a planar bearing sensor (nearly e.g., a pinhole camera). Results assume that the camera{\textquoteright}s linear and angular velocities are available, which is equivalent to consider a unicycle vehicle carrying an onboard camera. Results hold if other system inputs are considered, e.g., an omnidirectional vehicle. The theoretical results may guide the design of nonlinear observers to estimate the variables of interest in real time to be applied to visual servoing schemes. An example of such an observer is discussed and simulated.

}, keywords = {Robotics}, doi = {10.5772/54603}, url = {http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoing}, author = {F. A. W. Belo and P Salaris and D. Fontanelli and A. Bicchi} } @conference {GBSPB12, title = {Optimality Principles in Stiffness Control: The VSA Kick}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3341 - 3346 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {1239, title = {Towards variable impedance assembly: the VSA peg-in-hole}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, address = {Osaka, Japan}, keywords = {Robotics}, author = {L. Balletti and A. Rocchi and F. A. W. Belo and M. G. Catalano and M. Garabini and G. Grioli and A. Bicchi} } @conference {CGGBDBTB12, title = {A Variable Damping module for Variable Impedance Actuation}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {2666 - 2672}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and M. Garabini and F. A. W. Belo and A. Di Basco and N G Tsagarakis and A. Bicchi} } @conference {GPBSB11, title = {Optimality Principles in Variable Stiffness Control: the VSA Hammer}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {3770 - 3775}, address = {S. Francisco, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {GCGSSBMBP11, title = {Variable stiffness actuators: muscles for the next generation of robots}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {G. Grioli and M. G. Catalano and M. Garabini and F. Bonomo and A. Serio and P Salaris and F. A. W. Belo and M. Mancini and A. Bicchi and A. Passaglia} } @conference {BSB10, title = {3 known landmarks are enough for solving planar bearing SLAM and fully reconstruct unknown inputs}, booktitle = {Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on}, year = {2010}, month = {October}, pages = {2539 -2545}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, doi = {10.1109/IROS.2010.5648896}, author = {F. A. W. Belo and P Salaris and A. Bicchi} } @conference {FBCABB-ICRA10, title = {Design and Control of a Novel 3D Casting Manipulator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {4169 - 4174}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and F. A. W. Belo and M. G. Catalano and S. Alicino and F. Bonomo and A. Bicchi} } @inbook {FSBB10, title = {Visual Servoing via Advanced Numerical Methods}, volume = {401}, year = {2010}, pages = {335 - 360}, publisher = {Springer}, organization = {Springer}, chapter = {Unicycle{\textendash}like Robots with Eye-In-Hand Monocular Cameras: from PBVS Towards IBVS}, keywords = {Robotics}, author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi}, editor = {Graziano Chesi and Koichi Hashimoto} } @conference {ACBBGSFB-IROS09, title = {A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {3336-3342}, address = {St. Louis MO USA}, abstract = {

This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the challenge. The system eventually turned out to be very effective in negotiating 89\% slopes of volcanic terrain on the challenge site, Mount Teide in Tenerife. To reduce the distance to be traveled on the difficult terrain and avoid risks in reaching the lowest parts of a crater, the vehicle was endowed with an innovative sample acquisition system, i.e. a casting manipulator. Casting manipulation is a technique in which the end-effector is thrown, the sample material is acquired, and the end-effector is retrieved using a light tether that acts as a

}, keywords = {Robotics}, author = {S. Alicino and M. G. Catalano and F. Bonomo and F. A. W. Belo and G. Grioli and R. Schiavi and A. Fagiolini and A. Bicchi} } @inbook {FSBB09_STAR, title = {Visual appearance mapping for optimal vision based servoing}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {54 - Experimental Robotics}, year = {2009}, month = {March 28}, pages = {353 - 362}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @article {FDSBB09, title = {Visual Servoing in the Large}, journal = {International Journal of Robotics Research}, volume = {28}, number = {6}, year = {2009}, month = {June}, pages = {802 - 814}, abstract = {

In this paper we consider the problem of maneuvering an autonomous robot in complex unknown environments using vision. The goal is to accurately servo a wheeled vehicle to a desired posture using only feedback from an on-board camera, taking into account the nonholonomic nature of the vehicle kinematics and the limited field-ofview of the camera. With respect to existing visual servoing schemes, which achieve similar goals locally (i.e. when the desired and actual camera views are sufficiently similar), we propose a method to visually navigate the robot through an extended visual map before eventually reaching the desired goal. The map comprises a set of images, previously stored in an exploratory phase, that convey both topological and metric information regarding the connectivity through feasible robot paths and the geometry of the environment, respectively. Experimental results on a laboratory setup are reported showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and A. Danesi and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {SBFGB08, title = {Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking}, booktitle = {IROS}, year = {2008}, month = {22-26 Sept}, pages = {1673-1680}, abstract = {

This paper presents a correct solution to the optimal feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.

}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and L. Greco and A. Bicchi} } @conference {iser08, title = {Visual SLAM for Servoing for Appearance Based Topological Maps}, booktitle = {Proc. Ints. Symp. Experimental Robotics}, series = {Experimental Robotics}, volume = {39/2008}, year = {2008}, pages = {277-286}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and A. Bicchi}, editor = {Springer-Verlag} }