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Patent
A. Bicchi and Tonietti, G., “Mechanism of Motor reduction with variable rigidity and rapidly controllable”, 2010.
A. Bicchi and Tonietti, G., “Meccanismo motoriduttore a rigidezza variabile e rapidamente controllabile”, 2004.
Journal Article
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)
A. Bicchi and Tonietti, G., “Fast and Soft Arm Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control”, IEEE Robotics and Automation Magazine, vol. 11, pp. 22–33, 2004. PDF icon [PDF] (1.91 MB)
Conference Paper
A. Bicchi, Tonietti, G., and Schiavi, R., “Safe and Fast Actuators for Machines Interacting with Humans”, in Proc. of the 1st Technical Exhibition Based Conference on Robotics and Automation, TExCRA2004, November 18-19, TEPIA, Tokyo, Japan -, 2004, p. (in press). PDF icon [PDF] (170.68 KB)
R. Alami, Albu-Schaeffer, A., Bicchi, A., Bischoff, R., Chatila, R., De Luca, A., De Santis, A., Giralt, G., Guiochet, J., Hirzinger, G., Ingrand, F., Lippiello, V., Mattone, R., Powell, D., Sen, S., Siciliano, B., Tonietti, G., and Villani, L., “Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges”, in Proc. IROS'06 Workshop on pHRI - Physical Human-Robot Interaction in Anthropic Domains, 2006.
A. Balestrino, Bicchi, A., Caiti, A., Cecchini, T., Pallottino, L., Pisani, A., and Tonietti, G., “A Robotic Set-Up with Remote Access for ``Pick and Place'' Operations Under Uncertainty Conditions”, in E-learning and Virtual and Remote Laboratories, 2004, pp. 144–149. PDF icon [ìPDF] (92.77 KB)
A. Albu-Schaeffer, Bicchi, A., Boccadamo, G., Chatila, R., De Luca, A., De Santis, A., Giralt, G., Hirzinger, G., Lippiello, V., Mattone, R., Schiavi, R., Siciliano, B., Tonietti, G., and Villani, L., “Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability”, in Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments, 2005. PDF icon [PDF] (322.19 KB)
A. Bicchi, Bavaro, M., Boccadamo, G., Carli, D. D., Filippini, R., Grioli, G., Piccigallo, M., Rosi, A., Schiavi, R., Sen, S., and Tonietti, G., “Physical Human-Robot Interaction: Dependability, Safety, and Performance”, in Proc. 10th Intl. Workshop Advanced Motion Control, 2008, pp. 9-14. PDF icon [PDF] (348.02 KB)
S. Huh, Tonietti, G., and Bicchi, A., “Neural network based robust adaptive control for a variable stiffness actuator”, in Control and Automation, 16 th Mediterranean Conference on Control and Automation, 2008, pp. 1028 - 1034. PDF icon [PDF] (415.83 KB)
E. P. Scilingo, Sgambelluri, N., Tonietti, G., and Bicchi, A., “Integrating Two Haptic devices for Performance Enhancement”, in World Haptics Conference 2007, 2007, pp. 139-144. PDF icon [PDF] (1.33 MB)
A. Bicchi, Greco, G., Guiggiani, M., and Tonietti, G., “Hybrid Modelling of an Electronically Controlled Limited Slip Differential”, presented at the 8-10 September, 2005.
A. Balestrino, Bicchi, A., Caiti, A., Calabrò, V., Cecchini, T., Coppelli, A., Pallottino, L., and Tonietti, G., “From tele-laboratory to e-learning in automation curricula at the university of Pisa”, in Proc. IFAC World Congress, 2005. PDF icon [PDF] (400.38 KB)
A. Bicchi and Tonietti, G., “Design, Realization and Control of Soft Robot Arms for Intrinsically Safe Interaction with Humans”, in Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments, 2002, pp. 79-87. PDF icon [PDF] (994.29 KB)
G. Tonietti, Schiavi, R., and Bicchi, A., “Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction”, in Proc. IEEE Int. Conf. on Robotics and Automation, 2005, pp. 528-533. PDF icon [PDF] (444.21 KB)
A. Bicchi, Rizzini, L. S., and Tonietti, G., “Compliant robot arm design for intrinsic safety”, in Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments, 2001, pp. 100-106.
A. Bicchi, Rizzini, L. S., and Tonietti, G., “Compliant design for intrinsic safety: general issues and preliminary design”, in Proc. IEEE Int. Symp. Intelligent Robots and Systems, Maui, Hawaii, 2001, pp. 1864-1869. PDF icon [PDF] (191.87 KB)
R. Filippini, Sen, S., Tonietti, G., and Bicchi, A., “A Comparative Dependability Analysis of Antagonistic Actuation Arrangements for Enhanced Robotic Safety”, in Proc. IEEE Int. Conf. on Robotics and Automation, 2007, pp. 4349–4354. PDF icon [PDF] (571.95 KB)
G. Tonietti and Bicchi, A., “Adaptive Simultaneous Position and Stiffness Control for a Soft Robot Arm”, in Proc. IEEE Int. Symp. Intelligent Robots and Systems, 2002, pp. 1992-1997. PDF icon [PDF] (573.73 KB)
Book Chapter
A. Bicchi, Tonietti, G., Bavaro, M., and Piccigallo, M., “Variable Stiffness Actuators for Fast and Safe Motion Control”, in Proceedings of the International Symposium on Robotics Research, B. Siciliano, Khatib, O., and Groen, F., Eds. Springer Verlag, 2003. PDF icon [PDF] (451.75 KB)
G. Boccadamo, Schiavi, R., Sen, S., Tonietti, G., and Bicchi, A., “Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI”, in European Robotics Symposium 2006, vol. 22, H. Christensen, Ed. Springer Berlin / Heidelberg, 2006, pp. 109 - 118. PDF icon [PDF] (394.22 KB)
G. Tonietti, Schiavi, R., and Bicchi, A., “Optimal Mechanical/Control Design for Safe and Fast Robotics”, in Experimental Robotics IX: The 9th International Symposium on Experimental Robotics, vol. 21, O. K. Marcelo H. Ang, Ed. Springer Berlin / Heidelberg, 2006, pp. 311 - 320. PDF icon [PDF] (258.85 KB)