@article {3621, title = {Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, month = {April}, pages = {1533-1540}, keywords = {Computer architecture, Control, Deep Learning in Robotics and Automation, Grasping, Learning for Soft Robots, Modeling, Natural Machine Motion, Neural networks, Robot sensing systems, Uncertainty, Videos}, issn = {2377-3766}, doi = {10.1109/LRA.2019.2896485}, author = {C. D. Santina and V. Arapi and G. Averta and F. Damiani and G. Fiore and A Settimi and M. G. Catalano and D. Bacciu and A. Bicchi and M. Bianchi} } @conference {2205, title = {Low-cost, Fast and Accurate Reconstruction of Robotic and Human Postures via IMU Measurements}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, note = {

softhands wearhap

}, pages = {2728 - 2735}, publisher = {IEEE}, organization = {IEEE}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139569}, author = {G. Santaera and Luberto, E. and A. Serio and M Gabiccini and A. Bicchi} } @article {DPB11, title = {Left invertibility of discrete-time output-quantized systems: the linear case with finite inputs}, journal = {Mathematics of Control, Signals, and Systems}, volume = {23}, number = {1 - 2}, year = {2011}, note = {

published online 8 Sept. 2011

}, month = {November, 16}, pages = {117 - 139}, abstract = {

This paper studies left invertibility of discrete-time linear outputquantized systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a nite alphabet. Left invertibility, i.e. injectivity of I/O map, is reduced to left D-invertibility, under suitable conditions. While left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is much easier to detect. The condition under which left invertibility and left D-invertibility are equivalent is that the elements of the dynamic matrix of the system form an algebraically independent set. Our main result is a method to compute left D-invertibility (so also left invertibility for a full measure matrix set) for all linear systems with no eigenvalue of modulus one. Therefore we are able to check left invertibility of output-quantized linear systems for a full measure matrices set. Some examples are presented to show the application of the proposed method.

}, keywords = {Robotics}, doi = {10.1007/s00498-011-0063-x}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {DMB11, title = {Left invertibility of output-quantized MISO linear systems}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC2011}, year = {2011}, month = {August 28 - Sept}, pages = {11278 - 11283}, address = {Milano, italy}, abstract = {

This paper studies left invertibility of single-output discrete-time quantized linear systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a finite alphabet. Left invertibility deals with the possibility of recovering unknown inputs from the only knowledge of the outputs. It is reduced, under suitable conditions, to left D-invertibility: while left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is easily (and algorithmically) detectable. Our main result is a sufficient condition for the equivalence between left invertibility and left D-invertibility in MISO system. In unidimensional systems the equivalence is valid except at most a finite (and computable) number of cases. These results allows the effective detection of left invertibility by means of left Dinvertibility, which is algorithmically detectable. An example with effective computations is presented to show the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and M. Monge and A. Bicchi} } @article {DPB10, title = {Left invertibility of discrete systems with finite inputs and quantized output}, journal = {International Journal Of Control}, volume = {83}, number = {4}, year = {2010}, pages = {798 - 809}, abstract = {

The aim of this paper is to address left invertibility for dynamical systems with inputs and outputs in discrete sets. We study systems which evolve in discrete time within a continuous state-space; quantized outputs are generated by the system according to a given partition of the state-space, while inputs are arbitrary sequences of symbols in a finite alphabet, which are associated to specific actions on the system. Our main results are obtained under some contractivity hypotheses. The problem of left invertibility, i.e. recovering an unknown input sequence from the knowledge of the corresponding output string, is addressed using the theory of Iterated Function Systems (IFS), a tool developed for the study of fractals. We show how the IFS naturally associated to a system and the geometric properties of its attractor are linked to the invertibility property of the system. Our main result is a necessary and sufficient condition for left invertibility and uniform left invertibility for joint contractive systems. In addition, an algorithm is proposed to recover inputs from output strings. A few examples are presented to illustrate the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {DCB, title = {Left invertibility of output-quantized systems: an application to cryptography}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, month = {December}, pages = {4078-4083}, address = {Atlanta, USA}, abstract = {

In this paper a secure communication method is proposed, based on left invertibility of output-quantized dynamical systems. The sender uses an output-quantized linear system with a feedback function to encode messages, which are sequences of inputs of the system. So left invertibility property enables the receiver to recover the messages. The secret key is formed by the system

}, keywords = {Robotics}, author = {N. Dubbini and A. Carluccio and A. Bicchi} } @conference {DPB-CDC08, title = {Left invertibility of discrete systems with finite inputs and quantized output}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {4687 - 4692}, abstract = {

The aim of this paper is to address left invertibility for dynamical systems with inputs and outputs in discrete sets. We study systems that evolve in discrete time within a continuous state-space. Quantized outputs are generated by the system according to a given partition of the state-space, while inputs are arbitrary sequences of symbols in a finite alphabet, which are associated to specific actions on the system. We restrict to the case of contractive dynamics for fixed inputs. The problem of left invertibility, i.e. recovering an unknown input sequence from the knowledge of the corresponding output string, is addressed using the theory of Iterated Function Systems (IFS), a tool developed for the study of fractals. We show how the IFS naturally associated to a system and the geometric properties of its attractor are linked to the left invertibility property of the system. Our main results are a necessary and sufficient condition for a given system to be left invertible with probability one on the space of inputs (i.e. for almost all input sequences), and necessary and sufficient conditions for left invertibility and uniform left invertibility under some weak additional hypotheses. A few examples are presented to illustrate the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {FVB-CDC08Ext, title = {Logical Consensus for Distributed Network Agreement}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, note = {

Extended Version

}, pages = {5250 - 5255}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and E.M. Visibelli and A. Bicchi} } @conference {FVPDB:CASE07, title = {Local Monitor Implementation for Decentralized Intrusion Detection in Secure Multi-Agent Systems}, booktitle = {3rd IEEE Conference on Automation Science and Engineering}, year = {2007}, pages = {454{\textendash}459}, abstract = {

This paper focuses on the detection of misbehaving agents within a group of mobile robots. A novel approach to automatically synthesize a decentralized Intrusion Detection System (IDS) as well as an efficient implementation of local monitors are presented. In our scenario, agents perform possibly different independent tasks, but cooperate to guarantee the entire system

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @conference {MB02-ICRA, title = {A local-local planning algorithm for rolling objects}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2002}, month = {May}, pages = {1759-1764}, abstract = {

In this paper, we consider planning motions of objects of regular shape rolling on a plane among obstacles. Theoretical foundations and applications of this type of operations in robotic manipulation and locomotion have been discussed elsewhere. In this paper, we propose a novel algorithm that improves upon existing techniques in that: i) it is finitely computable and predictable (an upper bound on the computations necessary to reach a given goal within a tolerance can be given), and ii) it possesses a topological (local-local) property which enables obstacles and workspace limitations to be dealt with in an effective way.

}, keywords = {Embedded Control, Robotics}, author = {A. Marigo and A. Bicchi} } @conference {BCP00, title = {Localization Of Vehicles By Sensory Information}, booktitle = {Proc. WAC Int. Symp. on Robotics and Applications}, year = {2000}, month = {June}, pages = {68-73}, keywords = {Autonomous Vehicles, Localization and Mapping, Nonlinear Control Systems, Sensors}, author = {A. Bicchi and F. Conticelli and D Prattichizzo} } @conference {BBDGMP89, title = {Leg-Ankle-Foot System for Investigating Sensor Based Legged Locomotion}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1989}, address = {Tsukuba, Japan}, keywords = {Embedded Control, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=637970}, author = {A. Bicchi and L. Bosio and P. Dario and M. Guiggiani and E. Manfredi and P. C. Pinotti} }