TY - CONF T1 - Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 Y1 - 2019 A1 - P. J. Kieliba A1 - P. H. Veltink A1 - T. Lisini Baldi A1 - D. Pratichizzo A1 - G. Santaera A1 - A. Bicchi A1 - M. Bianchi A1 - B. J. F. Van Beijnum JF - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 UR - https://ieeexplore.ieee.org/document/8624929 ER - TY - CONF T1 - Advanced grasping with the Pisa/IIT softHand T2 - Robotic Grasping and Manipulation Challenge Y1 - 2018 A1 - M. Bonilla A1 - C. Della Santina A1 - A. Rocchi A1 - E. Luberto A1 - G. Santaera A1 - E. Farnioli A1 - C. Piazza A1 - F. Bonomo A1 - A. Brando A1 - A. Raugi A1 - M. G. Catalano A1 - M. Bianchi A1 - M. Garabini A1 - G. Grioli A1 - A. Bicchi JF - Robotic Grasping and Manipulation Challenge ER - TY - JOUR T1 - Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario JF - IEEE Robotics Automation Magazine Y1 - 2018 A1 - F. Negrello A1 - A Settimi A1 - D. Caporale A1 - G. Lentini A1 - M. Poggiani A1 - D. Kanoulas A1 - L. Muratore A1 - Luberto, E. A1 - G. Santaera A1 - L. Ciarleglio A1 - L. Ermini A1 - L. Pallottino A1 - D. G. Caldwell A1 - N. Tsagarakis A1 - A. Bicchi A1 - M. Garabini A1 - M. G. Catalano KW - Buildings KW - Earthquakes KW - Hardware KW - Legged locomotion KW - Robot sensing systems KW - Task analysis ER - TY - CONF T1 - Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond T2 - 2018 IEEE International Conference on Robotics and Automation (ICRA) Y1 - 2018 A1 - M. Bianchi A1 - G. Averta A1 - E. Battaglia A1 - C. Rosales A1 - M. Bonilla A1 - A. Tondo A1 - M. Poggiani A1 - G. Santaera A1 - S. Ciotti A1 - M. G. Catalano A1 - A. Bicchi JF - 2018 IEEE International Conference on Robotics and Automation (ICRA) ER - TY - JOUR T1 - Enhancing Adaptive Grasping Through a Simple Sensor-Based Reflex Mechanism JF - IEEE Robotics and Automation Letters Y1 - 2017 A1 - Luberto, E. A1 - Y. Wu A1 - G. Santaera A1 - M Gabiccini A1 - A. Bicchi KW - Haptics KW - Robotics AB -

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.

VL - 2 UR - http://ieeexplore.ieee.org/document/7875417/ IS - 3 ER - TY - CONF T1 - Estimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands T2 - IEEE International Conference of Intelligent Robots and Systems (IROS2017) Y1 - 2017 A1 - C. Della Santina A1 - C. Piazza A1 - G. Santaera A1 - G. Grioli A1 - M. G. Catalano A1 - A. Bicchi KW - Robotics JF - IEEE International Conference of Intelligent Robots and Systems (IROS2017) PB - IEEE CY - Vancouver, Canada, September 24–28, 2017 ER - TY - CONF T1 - Low-cost, Fast and Accurate Reconstruction of Robotic and Human Postures via IMU Measurements T2 - IEEE International Conference on Robotics and Automation (ICRA2015) Y1 - 2015 A1 - G. Santaera A1 - Luberto, E. A1 - A. Serio A1 - M Gabiccini A1 - A. Bicchi KW - Robotics JF - IEEE International Conference on Robotics and Automation (ICRA2015) PB - IEEE CY - Seattle, USA, 25 - 30 May N1 -

softhands wearhap

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softhands wearhap

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