%0 Journal Article %J IEEE Transactions on Robotics %D 2021 %T On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation %A A. Mannucci %A D. Caporale %A L. Pallottino %B IEEE Transactions on Robotics %V 37 %P 257 - 274 %G eng %U https://ieeexplore.ieee.org/document/9194321 %N 1 %R 10.1109/TRO.2020.3018642 %0 Journal Article %J Sensors %D 2020 %T LiDAR-Based GNSS Denied Localization for Autonomous Racing Cars %A F. Massa %A L. Bonamini %A A Settimi %A L. Pallottino %A D. Caporale %B Sensors %V 20 %G eng %U https://www.mdpi.com/1424-8220/20/14/3992#cite %N 14 %R 10.3390/s20143992 %0 Journal Article %J INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL %D 2019 %T Analysis of series elasticity in locomotion of a planar bipedal robot %A S. Manara %A G M Gasparri %A M. Garabini %A D. Caporale %A M Gabiccini %A A. Bicchi %B INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL %G eng %0 Conference Proceedings %B 2019 International Conference on Robotics and Automation (ICRA) %D 2019 %T Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars %A D. Caporale %A A Settimi %A F. Massa %A F. Amerotti %A A. Corti %A A. Fagiolini %A M. Guiggiani %A A. Bicchi %A L. Pallottino %B 2019 International Conference on Robotics and Automation (ICRA) %G eng %0 Journal Article %J IEEE Robotics and Automation Letters %D 2018 %T Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints %A G M Gasparri %A S. Manara %A D. Caporale %A G. Averta %A M. Bonilla %A H. Marino %A M. G. Catalano %A G. Grioli %A M. Bianchi %A A. Bicchi %A M. Garabini %X

Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be used to make the optimization more treatable and to efficiently describe the solution set. In this letter, we present an algorithm to encode effective walking references, generated offline via numerical optimization, extracting a limited number of principal components and using them as a basis of optimal motions. By combining these components, a good approximation of the optimal gaits can be generated at run time. The advantages of the presented approach are discussed, and an extensive experimental validation is carried out on a planar legged robot with elastic joints. The biped thus controlled is able to start and stop walking on a treadmill, and to control its speed dynamically as the treadmill speed changes.

%B IEEE Robotics and Automation Letters %V 3 %P 2299–2306 %G eng %0 Journal Article %J IEEE Robotics Automation Magazine %D 2018 %T Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario %A F. Negrello %A A Settimi %A D. Caporale %A G. Lentini %A M. Poggiani %A D. Kanoulas %A L. Muratore %A Luberto, E. %A G. Santaera %A L. Ciarleglio %A L. Ermini %A L. Pallottino %A D. G. Caldwell %A N. Tsagarakis %A A. Bicchi %A M. Garabini %A M. G. Catalano %K Buildings %K Earthquakes %K Hardware %K Legged locomotion %K Robot sensing systems %K Task analysis %B IEEE Robotics Automation Magazine %P 1-1 %G eng %R 10.1109/MRA.2017.2788801 %0 Conference Paper %B 2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI) %D 2018 %T A Planning and Control System for Self-Driving Racing Vehicles %A D. Caporale %A A. Fagiolini %A L. Pallottino %A A Settimi %A A. Biondo %A F. Amerotti %A F. Massa %A S. De Caro %A A. Corti %A L. Venturini %B 2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI) %C Palermo, Italy %P 1-6 %8 Sept %R 10.1109/RTSI.2018.8548444 %0 Conference Paper %B International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016 %D 2016 %T APRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design %A A. Ferrarelli %A D. Caporale %A A Settimi %A L. Pallottino %K Embedded Control %K Robotics %X

A novel MATLAB/Simulink based modeling and simulation environment for the design and rapid prototyping of state-of-the-art aircraft control systems is proposed. The toolbox, named APRICOT, is able to simulate the longitudinal and laterodirectional dynamics of an aircraft separately, as well as the complete 6 degrees of freedom dynamics. All details of the dynamics can be easily customized in the toolbox, some examples are shown in the paper. Moreover, different aircraft models can be easily integrated. The main goal of APRICOT is to provide a simulation environment to test and validate different control laws with different aircraft models. Hence, the proposed toolbox has applicability both for educational purposes and control rapid prototyping. With respect to similar software packages, APRICOT is customizable in all its aspects, and has been released as open source software. An interface with Flightgear Simulator allows for online visualization of the flight. Examples of control design with simulation experiments are reported and commented.

%B International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016 %I Springer %C Rome, Italy, June 15-16, 2016 %V 9991 of the book series Lecture Notes in Computer Science (LNCS) %P 139 - 157 %U http://link.springer.com/chapter/10.1007/978-3-319-47605-6_11 %R 10.1007/978-3-319-47605-6_11 %0 Conference Paper %B IEEE International Conference on Humanoid Robots (HUMANOIDS 2016) %D 2016 %T Motion Primitive Based Random Planning for Loco–Manipulation Tasks %A A Settimi %A D. Caporale %A P. Kryczka %A M. Ferrati %A L. Pallottino %K Robotics %X

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco–manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole–body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco–manipulation tasks.

%B IEEE International Conference on Humanoid Robots (HUMANOIDS 2016) %I IEEE %C Cancun, Mexico, 15-17 Nov. 2016 %@ 978-1-5090-4718-5 %U http://ieeexplore.ieee.org/document/7803402/ %R 10.1109/HUMANOIDS.2016.7803402