%0 Conference Paper %B International Conference On Innovative Design And Manufacturing %D 2014 %T Shaping of foam-like materials through the use of a sonotrode %A G Fantoni %A Tilli, J. %A F. A. W. Belo %A Ishak, R. %K Robotics %B International Conference On Innovative Design And Manufacturing %C Montreal, Quebec, Canada, August 13-15 %0 Journal Article %J International Journal of Advanced Robotic Systems %D 2013 %T A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities %A F. A. W. Belo %A P Salaris %A D. Fontanelli %A A. Bicchi %K Robotics %X

This paper presents an analysis of planar bearing localization and mapping for visual servoing with known camera velocities. In particular, we investigate what is the subset of camera locations and environmental features that can be retrieved from dynamic observations obtained by a planar bearing sensor (nearly e.g., a pinhole camera). Results assume that the camera’s linear and angular velocities are available, which is equivalent to consider a unicycle vehicle carrying an onboard camera. Results hold if other system inputs are considered, e.g., an omnidirectional vehicle. The theoretical results may guide the design of nonlinear observers to estimate the variables of interest in real time to be applied to visual servoing schemes. An example of such an observer is discussed and simulated.

%B International Journal of Advanced Robotic Systems %V 10 %G eng %U http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoing %N 197 %R 10.5772/54603 %0 Conference Paper %B International Conference of Robotics and Automation - ICRA 2012 %D 2012 %T Optimality Principles in Stiffness Control: The VSA Kick %A M. Garabini %A A. Passaglia %A F. A. W. Belo %A P Salaris %A A. Bicchi %K Robotics %B International Conference of Robotics and Automation - ICRA 2012 %C Saint Paul, MN, USA %P 3341 - 3346 %8 May 14 - 18 %G eng %0 Conference Paper %B IEEE-RAS International Conference on Humanoid Robots %D 2012 %T Towards variable impedance assembly: the VSA peg-in-hole %A L. Balletti %A A. Rocchi %A F. A. W. Belo %A M. G. Catalano %A M. Garabini %A G. Grioli %A A. Bicchi %K Robotics %B IEEE-RAS International Conference on Humanoid Robots %C Osaka, Japan %G eng %0 Conference Paper %B International Conference of Robotics and Automation - ICRA 2012 %D 2012 %T A Variable Damping module for Variable Impedance Actuation %A M. G. Catalano %A G. Grioli %A M. Garabini %A F. A. W. Belo %A A. Di Basco %A N G Tsagarakis %A A. Bicchi %K Robotics %B International Conference of Robotics and Automation - ICRA 2012 %C Saint Paul, MN, USA %P 2666 - 2672 %8 May 14 - 18 %G eng %0 Conference Paper %B 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems %D 2011 %T Optimality Principles in Variable Stiffness Control: the VSA Hammer %A M. Garabini %A A. Passaglia %A F. A. W. Belo %A P Salaris %A A. Bicchi %K Robotics %B 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems %C S. Francisco, USA %P 3770 - 3775 %8 September 25 - 3 %G eng %0 Conference Paper %B Automatica.it 2011 %D 2011 %T Variable stiffness actuators: muscles for the next generation of robots %A G. Grioli %A M. G. Catalano %A M. Garabini %A F. Bonomo %A A. Serio %A P Salaris %A F. A. W. Belo %A M. Mancini %A A. Bicchi %A A. Passaglia %K Robotics %B Automatica.it 2011 %C Pisa, Italy %8 September, 7 - 9 %G eng %0 Conference Paper %B Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on %D 2010 %T 3 known landmarks are enough for solving planar bearing SLAM and fully reconstruct unknown inputs %A F. A. W. Belo %A P Salaris %A A. Bicchi %K Embedded Control %K Robotics %B Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on %C St. Louis MO USA %P 2539 -2545 %8 October %G eng %R 10.1109/IROS.2010.5648896 %0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA2010) %D 2010 %T Design and Control of a Novel 3D Casting Manipulator %A A. Fagiolini %A F. A. W. Belo %A M. G. Catalano %A S. Alicino %A F. Bonomo %A A. Bicchi %K Embedded Control %K Robotics %B IEEE International Conference on Robotics and Automation (ICRA2010) %C Anchorage, Alaska %P 4169 - 4174 %8 May 3 - 8 %G eng %0 Book Section %D 2010 %T Visual Servoing via Advanced Numerical Methods %A D. Fontanelli %A P Salaris %A F. A. W. Belo %A A. Bicchi %E Graziano Chesi %E Koichi Hashimoto %K Robotics %I Springer %V 401 %P 335 - 360 %G eng %& Unicycle–like Robots with Eye-In-Hand Monocular Cameras: from PBVS Towards IBVS %0 Conference Paper %B Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems %D 2009 %T A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge %A S. Alicino %A M. G. Catalano %A F. Bonomo %A F. A. W. Belo %A G. Grioli %A R. Schiavi %A A. Fagiolini %A A. Bicchi %K Robotics %X

This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the challenge. The system eventually turned out to be very effective in negotiating 89% slopes of volcanic terrain on the challenge site, Mount Teide in Tenerife. To reduce the distance to be traveled on the difficult terrain and avoid risks in reaching the lowest parts of a crater, the vehicle was endowed with an innovative sample acquisition system, i.e. a casting manipulator. Casting manipulation is a technique in which the end-effector is thrown, the sample material is acquired, and the end-effector is retrieved using a light tether that acts as a

%B Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems %C St. Louis MO USA %P 3336-3342 %8 October, 11 - 15 %G eng %0 Book Section %D 2009 %T Visual appearance mapping for optimal vision based servoing %A D. Fontanelli %A P Salaris %A F. A. W. Belo %A A. Bicchi %E B. Siciliano %E O. Khatib %E Groen, F. %K Robotics %S Springer Tracts in Advanced Robotics (STAR) %I Springer %V 54 - Experimental Robotics %P 353 - 362 %8 March 28 %G eng %0 Journal Article %J International Journal of Robotics Research %D 2009 %T Visual Servoing in the Large %A D. Fontanelli %A A. Danesi %A F. A. W. Belo %A P Salaris %A A. Bicchi %K Embedded Control %K Robotics %X

In this paper we consider the problem of maneuvering an autonomous robot in complex unknown environments using vision. The goal is to accurately servo a wheeled vehicle to a desired posture using only feedback from an on-board camera, taking into account the nonholonomic nature of the vehicle kinematics and the limited field-ofview of the camera. With respect to existing visual servoing schemes, which achieve similar goals locally (i.e. when the desired and actual camera views are sufficiently similar), we propose a method to visually navigate the robot through an extended visual map before eventually reaching the desired goal. The map comprises a set of images, previously stored in an exploratory phase, that convey both topological and metric information regarding the connectivity through feasible robot paths and the geometry of the environment, respectively. Experimental results on a laboratory setup are reported showing the practicality of the proposed approach.

%B International Journal of Robotics Research %V 28 %P 802 - 814 %8 June %G eng %0 Conference Paper %B IROS %D 2008 %T Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking %A P Salaris %A F. A. W. Belo %A D. Fontanelli %A L. Greco %A A. Bicchi %K Robotics %X

This paper presents a correct solution to the optimal feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.

%B IROS %P 1673-1680 %8 22-26 Sept %G eng %0 Conference Paper %B Proc. Ints. Symp. Experimental Robotics %D 2008 %T Visual SLAM for Servoing for Appearance Based Topological Maps %A P Salaris %A F. A. W. Belo %A D. Fontanelli %A A. Bicchi %E Springer-Verlag %K Robotics %B Proc. Ints. Symp. Experimental Robotics %S Experimental Robotics %V 39/2008 %P 277-286 %G eng