%0 Conference Paper %B Robotic Grasping and Manipulation Challenge %D 2018 %T Advanced grasping with the Pisa/IIT softHand %A M. Bonilla %A C. Della Santina %A A. Rocchi %A E. Luberto %A G. Santaera %A E. Farnioli %A C. Piazza %A F. Bonomo %A A. Brando %A A. Raugi %A M. G. Catalano %A M. Bianchi %A M. Garabini %A G. Grioli %A A. Bicchi %B Robotic Grasping and Manipulation Challenge %P pp. 19-38 %0 Conference Paper %B International Symposium on Wearable Robotics %D 2018 %T The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation %A C. Piazza %A M. G. Catalano %A M. Bianchi %A E. Ricciardi %A D. Pratichizzo %A S. Haddadin %A Luft, A. R. L. %A O. Lambercy %A R. Gassert %A E. Jakubowitz %A H. Van Der Kooij %A F. Tonis %A F. Bonomo %A B. de Jonge %A T. Ward %A K. Zhao %A M. Santello %A A. Bicchi %B International Symposium on Wearable Robotics %R https://doi.org/10.1007/978-3-030-01887-0_71 %0 Conference Paper %B International Conference of Robotics and Automation - ICRA 2012 %D 2012 %T Passive impedance control of a Qboid multi-DOF VSA-CubeBot manipulator %A M. Mancini %A G. Grioli %A M. G. Catalano %A M. Garabini %A F. Bonomo %A A. Bicchi %K Robotics %B International Conference of Robotics and Automation - ICRA 2012 %C Saint Paul, MN, USA %P 3335 - 3340 %8 May 14 - 18 %G eng %R 10.1109/ICRA.2012.6225082 %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 2011 IEEE International Conference on Robotics and Automation %D 2011 %T VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems %A M. G. Catalano %A G. Grioli %A M. Garabini %A F. Bonomo %A M. Mancini %A N G Tsagarakis %A A. Bicchi %K Robotics %B 2011 IEEE International Conference on Robotics and Automation %C Shangai, China %P 5090 - 5095 %8 May 9 - 13 %G eng %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 Conference Paper %B IEEE/RSJ International Conference on Intelligent RObots and Systems %D 2010 %T VSA-HD: From the Enumeration Analysis to the Prototypical Implementation %A M. G. Catalano %A G. Grioli %A F. Bonomo %A R. Schiavi %A A. Bicchi %K Embedded Control %K Robotics %B IEEE/RSJ International Conference on Intelligent RObots and Systems %C St. Louis MO USA %P 3676 - 3681 %8 October %G eng %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