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C. Castellini, Artemiadis, P., Wininger, M., A. Ajoudani, Alimusaj, M., Bicchi, A., Caputo, B., Craelius, W., Dosen, S., Englehart, K., Farina, D., Gijsberts, A., Godfrey, S. B., Hargrove, L., Ison, M., Kuiken, T., Markovic, M., Pilarski, P. M., Rupp, R., and Scheme, E., Peripheral Machine Interfaces: going beyond traditional surface electromyography, Frontiers in Neurorobotics, vol. 8, no. 22, pp. 1 - 17, 2014.
A. Balluchi, Bicchi, A., and Souères, P., Path-Following with a Bounded-Curvature Vehicle: a Hybrid Control Approach, International Journal of Control, vol. 78, pp. 1228-1247, 2005. PDF icon [PDF] (590.71 KB)
P. Souères, Balluchi, A., and Bicchi, A., Optimal feedback control for line tracking with a bounded-curvature vehicle, Int. Journal of Control, vol. 74, pp. 1009-1019, 2001. PDF icon [PDF] (324.17 KB)
A. Bicchi and Canepa, G., Optimal Design of Multivariate Sensors, Measurement Science and Technology (Institute of Physics Journal ``E''), vol. 5, pp. 319-332, 1994. PDF icon [PDF] (328.01 KB)
A. Bicchi and Pallottino, L., On optimal cooperative conflict resolution for air traffic management systems, IEEE Trans. Intelligent Transportation Systems, vol. 1, pp. 221-231, 2000. PDF icon [PDF] (328 KB)
A. Bicchi, Caiti, A., Pallottino, L., and Tonietti, G., On-line Robotic Experiments for Tele-Education at the University of Pisa, Int. Journal of Robotic Systems, vol. 22, pp. 217-230, 2005. PDF icon [PDF] (746.25 KB)
C. Fang, A. Ajoudani, Bicchi, A., and Tsagarakis, N. G., Online Model Based Estimation of Complete Joint Stiffness of Human Arm, IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 84 - 91, 2017 [Online]. Available:
P. Pietrini, Ricciardi, E., Gentili, C., Bonino, D., Vanello, N., Sani, L., Danti, S., Guazzelli, M., Bicchi, A., and Vecchi, T. E., Oltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale, Neurological Sciences, vol. 26, pp. S81–S83, 2005.
N. Colella, Bianchi, M., Grioli, G., Bicchi, A., and Catalano, M. G., A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars, IEEE Robotics and Automation Letters, vol. Volume: 4 , Issue: 2 , April 2019 , 2019. PDF icon 08629932.pdf (2.6 MB)
T. Stoyanov, Vaskeviciusz, N., Mueller, C. A., Fromm, T., Krug, R., Tincani, V., Mojtahedzadeh, R., Kunaschk, S., Ernits, R. M., Canelhas, D. R., Bonilla, M., Schwertfeger, S., Bonini, M., Halfar, H., Pathak, K., Rohde, M., Fantoni, G., Bicchi, A., Birk, A., Lilienthal, A., and Echelmeyer, W., No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem, IEEE Robotics and Automation Magazine, vol. 23, no. 4, 2016 [Online]. Available:
A. Balluchi and Bicchi, A., Necessary and Sufficient Conditions for Robust Perfect Tracking under Variable Structure Control, International Journal of Robust and Nonlinear Control, vol. 13, no. 2, pp. 141-151, 2003. PDF icon [PDF] (215.43 KB)
G. Mathijssen, Schultz, J., Vanderborght, B., and Bicchi, A., A muscle-like recruitment actuator with modular redundant actuation units for soft robotics, Robotics and Autonomous Systems, vol. 74, no. part A, pp. 40-50, 2015 [Online]. Available:
D. Prattichizzo, Malvezzi, M., Gabiccini, M., and Bicchi, A., On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies, IEEE Transactions on Robotics, vol. 29, no. 6, pp. 1440 - 1456 , 2013. PDF icon [PDF] (1.59 MB)
A. Bicchi, Gabiccini, M., and Santello, M., Modeling Natural and Artificial Hands with Synergies, Philosophical Transactions of the Royal Society B, vol. 366, pp. 3153 - 3161, 2011. PDF icon [PDF] (829.66 KB)
A. Bicchi, Melchiorri, C., and Balluchi, D., On the Mobility and Manipulability of General Multiple Limb Robotic Systems, IEEE Trans. Robotics and Automation, vol. 11, pp. 215-228, 1995. PDF icon [PDF] (1011.65 KB)
A. Cristofaro, Salaris, P., Pallottino, L., Giannoni, F., and Bicchi, A., On the Minimum-Time Control Problem for Differential Drive Robots with Bearing Constraints, Journal of Optimization Theory and Applications, pp. 1-27, 2017 [Online]. Available:
L. Palopoli, Pinello, C., Bicchi, A., and Sangiovanni-Vincentelli, A. L., Maximizing the stability radius of a set of systems under real-time scheduling constraints, IEEE Trans. on Automatic Control, vol. 50, pp. 1790–1795, 2005. PDF icon [PDF] (263.12 KB)
A. Bicchi and Prattichizzo, D., Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms, IEEE Trans. Robotics and Automation, vol. 16, pp. 336-345, 2000. PDF icon [PDF] (361 KB)
D. Prattichizzo, Malvezzi, M., Gabiccini, M., and Bicchi, A., On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems, Robotics and Autonomous Systems, special issue on Autonomous Grasping, vol. 60, no. 3, pp. 337 - 346, 2012. PDF icon [PDF] (912.42 KB)
S. Haddadin, Haddadin, S., Khoury, A., Rokahr, T., Parusel, S., Burgkart, R., Bicchi, A., and Albu-Schaeffer, A., On Making Robots Understand Safety: Embedding Injury Knowledge into Control, International Journal of Robotics Research, vol. 31, no. 13, pp. 1578-1602, 2012. PDF icon [PDF] (1.1 MB)
A. Bicchi, Macchine e Mani: Immagini, Immaginazione e Creazione, Letteratura e Arte, pp. 13-21, 2008. PDF icon [PDf] (229.85 KB)
N. Dubbini, Piccoli, B., and Bicchi, A., Left invertibility of discrete-time output-quantized systems: the linear case with finite inputs, Mathematics of Control, Signals, and Systems, vol. 23, pp. 117 - 139, 2011.
N. Dubbini, Piccoli, B., and Bicchi, A., Left invertibility of discrete systems with finite inputs and quantized output, International Journal Of Control, vol. 83, pp. 798 - 809, 2010. PDF icon [PDF] (1.33 MB)
C. D. Santina, Arapi, V., Averta, G., Damiani, F., Fiore, G., Settimi, A., Catalano, M. G., Bacciu, D., Bicchi, A., and Bianchi, M., Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands, IEEE Robotics and Automation Letters, vol. 4, pp. 1533-1540, 2019. PDF icon 08629968.pdf (4.01 MB)
A. Bicchi and Mayeda, H., Introduction to the Special Issue on Enveloping Grasping and Whole-Arm Manipulation, The Journal of Advanced Robotics, 1995.
M. Egerstedt, Martini, S., Cao, M., Camlibel, K., and Bicchi, A., Interacting with networks: How does structure relate to controllability in single-leader, consensus networks?, Control Systems Magazine, vol. 32, no. 4, pp. 66 - 73, 2012. PDF icon [PDF] (637.76 KB)
M. L. D'Angelo, Cannella, F., Bianchi, M., D'Imperio, M., Battaglia, E., Poggiani, M., Rossi, G., Bicchi, A., and Caldwell, D. G., An Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window, IEEE Transactions on Haptics, vol. 10, no. 1, pp. 123-129, 2017 [Online]. Available:
G. Averta, Angelini, F., Bonilla, M., Bianchi, M., and Bicchi, A., Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning, IEEE Robotics and Automation Letters, vol. 3, pp. 2686-2693, 2018. PDF icon averta_et_al2018.pdf (2.59 MB)
B. Picasso and Bicchi, A., Hypercubes are minimal controlled invariants for discrete-time linear systems with quantized scalar input, Nonlinear Analysis. Hybrid systems, pp. 706-720, 2008. PDF icon [PDF] (305.44 KB)
P. Murrieri, Fontanelli, D., and Bicchi, A., A Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback, Int. Jour. of Robotics Research, vol. 23, pp. 437-448, 2004. PDF icon [PDF] (1.05 MB)