@conference {BLT01,
	title = {Compliant design for intrinsic safety: general issues and preliminary design},
	booktitle = {Proc. IEEE Int. Symp. Intelligent Robots and Systems},
	year = {2001},
	month = {October},
	pages = {1864-1869},
	address = {Maui, Hawaii},
	abstract = {<p>In this paper, we describe some initial results of a project aiming at development of a programmable-compliance, inherently safe robot arm for applications in anthropic environmnets. In order to obtain safety in spite of worst-case situations (such as unexpected delays in teleoperation, or even controller failure), we will consider achieving compliance by mechanical rather than by control design. We first describe some of the control problems that the presence of large, possibly unknown mechanical compliance typically introduces, and present a result that shows the possibility to cope with these uncertainties in an adaptive way. In the second part of the paper we describe the initial development of a new prototype arm under construction in our laboratory. The arm is designed to achieve arbitrary position tracking in 3D with controlled effective compliance at the joints.</p>
},
	keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms},
	author = {A. Bicchi and S. Lodi Rizzini and G. Tonietti}
}
@conference {BLT01-iarp,
	title = {Compliant robot arm design for intrinsic safety},
	booktitle = {Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments},
	year = {2001},
	pages = {100-106},
	abstract = {In this paper, we describe some initial results of a project aiming at development of a programmable-compliance, inherently safe robot arm for applications in anthropic environmnets. In order to obtain safety in spite of worst-case situations (such as unexpected delays in teleoperation, or even controller failure), we will consider achieving compliance by mechanical rather than by control design. We first describe some of the control problems that the presence of large, possibly unknown mechanical compliance typically introduces, and present a result that shows the possibility to cope with these uncertainties in an adaptive way. In the second part of the paper we describe the initial development of a new prototype arm under construction in our laboratory. The arm is designed to achieve arbitrary position tracking in 3D with controlled effective compliance at the joints.},
	keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms},
	author = {A. Bicchi and S. Lodi Rizzini and G. Tonietti},
	editor = {G. Giralt and P. Corke}
}
@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}
}
@article {BP00-Robotica,
	title = {Analysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems},
	journal = {Robotica},
	volume = {18},
	year = {2000},
	month = {January},
	pages = {23-31},
	keywords = {Haptics, Physical Human-Robot Interaction (pHRI), Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
@article {BP00,
	title = {Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms},
	journal = {IEEE Trans. Robotics and Automation},
	volume = {16},
	number = {4},
	year = {2000},
	month = {August},
	pages = {336-345},
	keywords = {Grasping, Manipulability, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
@article {PB98,
	title = {Dynamic Analysis of Mobility and Graspability of General Manipulation Systems},
	journal = {IEEE Trans. on Robotics and Automation},
	volume = {14},
	number = {2},
	year = {1998},
	pages = {241-258},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and A. Bicchi}
}
@conference {BP98,
	title = {Manipulability of Cooperating Robots with Passive Joints},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1998},
	pages = {1038-1043},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
@article {PB97,
	title = {Consistent Specification of Manipulation Tasks for Defective Mechanical Systems},
	journal = {ASME Jour. Dynam. Systems, Measurement, and Control},
	volume = {119},
	year = {1997},
	month = {December},
	pages = {767-777},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and A. Bicchi}
}
@conference {PMBV97-SYROCO,
	title = {On the Decoupling and Output Functional Controllability of Robotic Manipulation},
	booktitle = {Proc. IFAC Int. Symp. on Robot Control},
	year = {1997},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino}
}
@conference {BPM97,
	title = {Force and Dynamic Manipulability for Cooperating Robot Systems},
	booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {1997},
	keywords = {Haptics, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo and C. Melchiorri}
}
@conference {PMBV97-CDC,
	title = {On the Geometric Control of Internal Forces in Power Grasp},
	booktitle = {Proc. Conf. on Decision and Control},
	year = {1997},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino}
}
@conference {PMBV96,
	title = {	Noninteracting force/motion control of defective manipulation systems },
	booktitle = {Proc. Conf. on Decision and Control},
	year = {1996},
	keywords = {Robot Arms, Robot Hands},
	author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino}
}
@conference {PB96,
	title = {Specifying Consistent Control Goals for Kinematically Defective Manipulation Systems},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1996},
	keywords = {Robot Arms, Robot Hands},
	author = {D Prattichizzo and A. Bicchi}
}
@article {BM95,
	title = {Introduction to the Special Issue on Enveloping Grasping and Whole-Arm Manipulation},
	journal = {The Journal of Advanced Robotics},
	year = {1995},
	month = {October},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {A. Bicchi and H. Mayeda}
}
@article {BMB95,
	title = {On the Mobility and Manipulability of General Multiple Limb Robotic Systems},
	journal = {IEEE Trans. Robotics and Automation},
	volume = {11},
	number = {2},
	year = {1995},
	month = {April},
	pages = {215-228},
	keywords = {Grasping, Manipulability, Robot Arms, Robot Hands},
	author = {A. Bicchi and C. Melchiorri and D. Balluchi}
}
@conference {BP95,
	title = {A Standard Form for the Dynamics of General Manipulation Systems},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1995},
	pages = {2810-2815},
	keywords = {Haptics, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
@conference {PPB94,
	title = {Articulated Structures with Tendon Actuation for Whole-Limb Manipulation},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1994},
	keywords = {Haptics, Robot Arms, Robot Hands},
	author = {P. Petreschi and D Prattichizzo and A. Bicchi}
}
@conference {BM92-ICRA,
	title = {Mobility and Kinematic Analysis of General Cooperating Robotic Systems},
	booktitle = {Proc. IEEE Conf. on Robotics and Automation},
	year = {1992},
	pages = {421-426},
	keywords = {Robot Arms, Robot Hands},
	author = {A. Bicchi and C. Melchiorri}
}
@conference {B92-ACC,
	title = {Optimal Control of Robotic Grasping},
	booktitle = {Proc. American Control Conference},
	year = {1992},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {A. Bicchi}
}
@conference {DBSBB88,
	title = {Advanced Rehabilitative Robots},
	booktitle = {Proc. ISIR Int. Symposium and Exposition on Robots},
	year = {1988},
	address = {Sydney, Australia},
	keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms},
	author = {P. Dario and M. Bergamasco and A. Sabatini and A. Bicchi and G. Buttazzo}
}
