00585nas a2200169 4500008003900000245010600039210006900145100002000214700002000234700001800254700001900272700001700291700001500308700001600323700002700339856004900366 2019 d00aComparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units0 aComparison of Three Hand Pose Reconstruction Algorithms Using In1 aKieliba, P., J.1 aVeltink, P., H.1 aBaldi, Lisini1 aPratichizzo, D1 aSantaera, G.1 aBicchi, A.1 aBianchi, M.1 aVan Beijnum, B., J. F. uhttps://ieeexplore.ieee.org/document/862492900744nas a2200265 4500008003900000245004900039210004800088300001400136100001500150700001800165700001400183700001600197700001700213700001600230700001400246700001400260700001500274700001400289700002000303700001600323700001700339700001500356700001500371856009200386 2018 d00aAdvanced grasping with the Pisa/IIT softHand0 aAdvanced grasping with the PisaIIT softHand app. 19-381 aBonilla, M1 aDella Santina1 aRocchi, A1 aLuberto, E.1 aSantaera, G.1 aFarnioli, E1 aPiazza, C1 aBonomo, F1 aBrando, A.1 aRaugi, A.1 aCatalano, M. G.1 aBianchi, M.1 aGarabini, M.1 aGrioli, G.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/advanced-grasping-pisaiit-softhand.html01089nas a2200373 4500008004100000022001400041245007100055210006900126300000800195653001400203653001600217653001300233653002200246653002600268653001800294100001700312700001500329700001700344700001600361700001700377700001700394700001700411700001600428700001700444700001900461700001500480700001900495700002000514700001800534700001500552700001700567700002000584856011100604 2018 eng d a1070-993200aHumanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario0 aHumanoids at Work The WALKMAN Robot in a Postearthquake Scenario a1-110aBuildings10aEarthquakes10aHardware10aLegged locomotion10aRobot sensing systems10aTask analysis1 aNegrello, F.1 aSettimi, A1 aCaporale, D.1 aLentini, G.1 aPoggiani, M.1 aKanoulas, D.1 aMuratore, L.1 aLuberto, E.1 aSantaera, G.1 aCiarleglio, L.1 aErmini, L.1 aPallottino, L.1 aCaldwell, D. G.1 aTsagarakis, N1 aBicchi, A.1 aGarabini, M.1 aCatalano, M. G. uhttps://www.centropiaggio.unipi.it/publications/humanoids-work-walk-man-robot-postearthquake-scenario.html00733nas a2200205 4500008003900000245010600039210006900145100001600214700001500230700001800245700001500263700001500278700001400293700001700307700001700324700001500341700002000356700001500376856013600391 2018 d00aTouch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond0 aTouchBased Grasp Primitives for Soft Hands Applications to Human1 aBianchi, M.1 aAverta, G.1 aBattaglia, E.1 aRosales, C1 aBonilla, M1 aTondo, A.1 aPoggiani, M.1 aSantaera, G.1 aCiotti, S.1 aCatalano, M. G.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/touch-based-grasp-primitives-soft-hands-applications-human-robot-handover-tasks-and01691nas a2200205 4500008004100000245008100041210006900122260001200191300001600203490000600219520111000225653001201335653001301347100001601360700001101376700001701387700001701404700001501421856004901436 2017 eng d00a Enhancing Adaptive Grasping Through a Simple Sensor-Based Reflex Mechanism 0 aEnhancing Adaptive Grasping Through a Simple SensorBased Reflex c07/2017 a1664 - 16710 v23 a
This paper presents an approach to achieve adaptive grasp of unknown objects whose position is only approximately known via point-cloud data. We exploit the adaptability of a soft robotic hand which can autonomously conform to the shape of a grasped object if properly approached. Once a grasp approach has been preliminarily planned based only on rough estimates of the object position, the hand is shaped to a pregrasp configuration. Before closing the hand, a sensor-based algorithm is applied that corrects the relative hand-object posture so as to enhance the probability that the object is uniformly approached by all fingers, thus avoiding undesired premature contacts. The algorithm minimizes the distance between the hand's fingerpads and the object by continuously controlling both the wrist pose and orientation and the hand closure. Experimental studies with a Kuka-LWR arm and a Pisa/IIT Softhand illustrate the benefit of the developed technique and the improvement in grasping performance with respect to open-loop execution of grasps planned on the basis of prior RGB-D cues only.
10aHaptics10aRobotics1 aLuberto, E.1 aWu, Y.1 aSantaera, G.1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/document/7875417/00675nas a2200169 4500008003900000245009600039210006900135260005300204653001300257100001800270700001400288700001700302700001500319700002000334700001500354856013600369 2017 d00aEstimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands0 aEstimating Contact Forces from Postural Measures in a class of U aVancouver, Canada, September 24–28, 2017bIEEE10aRobotics1 aDella Santina1 aPiazza, C1 aSantaera, G.1 aGrioli, G.1 aCatalano, M. G.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/estimating-contact-forces-postural-measures-class-under-actuated-robotic-hands.html00658nas a2200169 4500008003900000245009800039210006900137260003600206300001600242653001300258100001700271700001600288700001400304700001700318700001500335856013800350 2015 d00aLow-cost, Fast and Accurate Reconstruction of Robotic and Human Postures via IMU Measurements0 aLowcost Fast and Accurate Reconstruction of Robotic and Human Po aSeattle, USA, 25 - 30 MaybIEEE a2728 - 273510aRobotics1 aSantaera, G.1 aLuberto, E.1 aSerio, A.1 aGabiccini, M1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/low-cost-fast-and-accurate-reconstruction-robotic-and-human-postures-imu-measurements