@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 {DSSDLB07, title = {An atlas of physical human-robot interaction}, journal = {Mechanism and Machine Theory}, volume = {43}, number = {3}, year = {2007}, pages = {253-270}, abstract = {

A broad spectrum of issues have to be addressed in order to tackle the problem of a safe and dependable physical Human-Robot Interaction (pHRI). In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday enviornments. While there are certainly also {\textquoteleft}{\textquoteleft}cognitive

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {De Santis, A and B. Siciliano and A.De Luca and A. Bicchi} } @conference {PHRI06, title = {Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges}, booktitle = {Proc. IROS{\textquoteright}06 Workshop on pHRI - Physical Human-Robot Interaction in Anthropic Domains}, year = {2006}, publisher = {IEEE}, organization = {IEEE}, keywords = {Robotics}, author = {R. Alami and A Albu-Schaeffer and A. Bicchi and R. Bischoff and R. Chatila and A. De Luca and De Santis, A and G. Giralt and J. Guiochet and G. Hirzinger and F. Ingrand and V. Lippiello and R. Mattone and D. Powell and S. Sen and B. Siciliano and G. Tonietti and L. Villani}, editor = {A. Bicchi and A. De Luca} } @conference {IARP05, title = {Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability}, booktitle = {Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2005}, abstract = {

In this paper we describe the motivations and the aim ofthe EURON-2 research project {\textquoteleft}{\textquoteleft}\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains{\textquoteright}{\textquoteright} (PRHIDOM). This project, which moves along the lines indicated by the 1$^{st}$ IARP/IEEE-RAS Workshop on Technical Challenge for Dependable Robots in Human Environments \cite{iarp01}, is about {\textquoteleft}{\textquoteleft}charting{\textquoteright}{\textquoteright} the new {\textquoteleft}{\textquoteleft}territory{\textquoteright}{\textquoteright} of physical Human-Robot Interaction (pHRI). To ensure these goals, the integration competences in control, robotics, design and realization of mechanical systems, human-machine interaction, and in safety-dependability of mechatronic systems is required. The PHRIDOM Consortium is composed of 5 partners from 3 different European countries.

}, keywords = {Robotics}, author = {A Albu-Schaeffer and A. Bicchi and G. Boccadamo and R. Chatila and A. De Luca and De Santis, A and G. Giralt and G. Hirzinger and V. Lippiello and R. Mattone and R. Schiavi and B. Siciliano and G. Tonietti and L. Villani} } @inbook {BLMS03, title = {On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles}, booktitle = {Advances in Control of Articulated and Mobile Robots}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {10}, year = {2004}, pages = {223-239}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and F. Lorussi and P. Murrieri and V. G. Scordio}, editor = {B. Siciliano and A. De Luca and C. Melchiorri and G. Casalino} } @inbook {BTBP03, title = {Variable Stiffness Actuators for Fast and Safe Motion Control}, booktitle = {Proceedings of the International Symposium on Robotics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, year = {2003}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti and M. Bavaro and M. Piccigallo}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @inbook {MFB02, title = {Visual-servoed parking with limited view angle}, booktitle = {Experimental Robotics VIII}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {5}, year = {2002}, pages = {254-263}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis, and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi}, editor = {B. Siciliano and P. Dario} } @book {NSBV01, title = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Autonomous Vehicles, Robot Arms}, url = {http://www.springer.com/?SGWID=6-102-0-0-0}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} } @inbook {BK01, title = {Robotic Grasping and Manipulation}, booktitle = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, pages = {55-74}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {4}, address = {Berlin Heidelberg, Germany}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and V. Kumar}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} } @inbook {BMP99-CPRA, title = {Robotic Dexterity via Nonholonomy}, booktitle = {Control Problems in Robotics and Automation}, series = {LNCIS 230}, year = {1997}, pages = {35-49}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and A. Marigo and D Prattichizzo}, editor = {B. Siciliano and K. Valavanis} }