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A. De Acutis, Calabrese, L., Bau, A., Tincani, V., Pugno, N. M., Bicchi, A., and De Rossi, D., Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling, Smart Materials and Structures, 2018. PDF icon de_acutis_2018_smart_mater._struct._27_074005.pdf (1.78 MB)
A. Visar, C. Della Santina,, Bacciu, D., Bianchi, M., and Bicchi, A., DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information, Frontiers in Neurorobotics, 2018. PDF icon arapi_et_al_2018.pdf (2.8 MB)
A. Balluchi and Bicchi, A., Decentralized Variable Structure Tracking for Systems with Time-Domain Dominance, International Journal of Applied Mathematics and Computer Science, vol. 9, pp. 265-291, 1999. PDF icon [PDF] (533.57 KB)
F. Angelini, C. Della Santina,, Garabini, M., Bianchi, M., Gasparri, G. M., Grioli, G., Catalano, M. G., and Bicchi, A., Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment, IEEE Transactions on Robotics (T-RO)., vol. Early Access, 2018. PDF icon [PDF] (1.37 MB)
L. Pallottino, Scordio, V. G., Frazzoli, E., and Bicchi, A., Decentralized cooperative policy for conflict resolution in multi-vehicle systems, IEEE Trans. on Robotics, vol. 23, pp. 1170-1183, 2007. PDF icon [PDF] (913.03 KB)
A. Bicchi, A Criterion for Optimal Design of Multiaxis Force Sensors, Journal of Robotics and Autonomous Systems, vol. 10, pp. 269-286, 1992. PDF icon [PDF] (351.23 KB)
B. Huang, Li, Z., Wu, X., A. Ajoudani, Bicchi, A., and Liu, J., Coordination Control of a Dual-arm Exoskeleton Robot Using Human Impedance Transfer Skills, IEEE Trans. Systems Man and Cybernetics: Systems, 2017 [Online]. Available:
A. Fagiolini, Dubbini, N., Martini, S., and Bicchi, A., Convergence Analysis of Distributed Set-Valued Information Systems, IEEE Transactions on Automatic Control, vol. 61, no. 6, pp. 1477 - 1491, 2016 [Online]. Available: icon [PDF] (2.33 MB)
C. Della Santina, Bianchi, M., Grioli, G., Angelini, F., Catalano, M. G., Garabini, M., and Bicchi, A., Controlling Soft Robots: Balancing Feedback and Feedforward Elements, IEEE Robotics and Automation Magazine, vol. 24, no. 3, pp. 75 - 83, 2017 [Online]. Available: icon [PDF] (1.22 MB)
S. Martini, Egerstedt, M., and Bicchi, A., Controllability analysis of multi-agent systems using relaxed equitable partitions, Int. J. Systems, Control and Communications, vol. 2, pp. 100-121, 2010. PDF icon [PDF] (328.01 KB)
B. Picasso and Bicchi, A., Control synthesis for practical stabilization of quantized linear systems, Rend. Sem. Mat. Univ. Pol. Torino, Control Theory and Stabil., I, vol. 63, pp. 397–410, 2005. PDF icon [PDF] (177.06 KB)
A. Bicchi, Salisbury, J. K., and Brock, D. L., Contact Sensing from Force and Torque Measurements, The Int. J. of Robotics Research, vol. 12, pp. 249-262, 1993. PDF icon [PDF] (369.91 KB)
D. Prattichizzo and Bicchi, A., Consistent Specification of Manipulation Tasks for Defective Mechanical Systems, ASME Jour. Dynam. Systems, Measurement, and Control, vol. 119, pp. 767-777, 1997. PDF icon [PDF] (425.67 KB)
F. Pasqualetti, Bicchi, A., and Bullo, F., Consensus Computation in Unreliable Networks: A System Theoretic Approach, IEEE Transactions on Automatic Control, vol. 57, no. 1, pp. 90 - 104, 2012. PDF icon [PDF] (599.89 KB)
L. Pallottino, Feron, E., and Bicchi, A., Conflict Resolution Problems for Air Traffic Management Systems Solved with Mixed Integer Programming, IEEE Trans. Intelligent Transportation Systems, vol. 3, pp. 3-11, 2002. PDF icon [PDF] (612.14 KB)
S. Lemerle, Catalano, M. G., Bicchi, A., and Grioli, G., A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints, Frontiers in Robotics and AI, vol. 8, 2021 [Online]. Available: icon frobt-08-614145.pdf (3.57 MB)
K. - E. Arzén, Bicchi, A., Dini, G., Hailes, S., Johansson, K. H., Lygeros, J., and Tzes, A., A component-based approach to the design of networked control systems, European Journal of Control, vol. 13, pp. 261-279, 2007. PDF icon [PDF] (1.03 MB)
F. A. W. Belo, Salaris, P., Fontanelli, D., and Bicchi, A., A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities, International Journal of Advanced Robotic Systems, vol. 10, no. 197, 2013 [Online]. Available: icon [PDF] (333.24 KB)
J. Li, Li, Z., Chen, F., Bicchi, A., Sun, Y., and Fukuda, T., Combined Sensing, Cognition, Learning and Control to Developing Future Neuro-Robotics Systems: A Survey, IEEE Transactions on Cognitive and Developmental Systems ( Early Access ).
A. Bicchi, On the Closure Properties of Robotic Grasping, The Int. J. of Robotics Research, vol. 14, pp. 319-334, 1995. PDF icon [PDF] (332.5 KB)
G. Casalino, Aicardi, M., Bicchi, A., and Balestrino, A., Closed loop steering of unicycle like vehicles via Lyapunov techniques, IEEE Robotics and Automation Magazine, vol. 2, pp. 27-35, 1995. PDF icon vehicles-RA-MGZ95.pdf (722.91 KB)
A. Ajoudani, Tsagarakis, N. G., and Bicchi, A., Choosing Poses for Force and Stiffness Control, IEEE Transactions on Robotics, 2017 [Online]. Available: icon [PDF] (1.08 MB)
A. Moscatelli, Bianchi, M., Serio, A., Terekhov, A., Hayward, V., Ernst, M., and Bicchi, A., The Change in Fingertip Contact Area as a Novel Proprioceptive Cue, Current Biology, vol. 26, no. 9, pp. 1159–1163, 2016 [Online]. Available: icon [PDF] (877.01 KB)
C. Piazza, Grioli, G., Catalano, M. G., and Bicchi, A., A Century of Robotic Hands, Annual Review of Control, Robotics, and Autonomous Systems, vol. 2, 2019 [Online]. Available:
S. Haddadin, Haddadin, S., Khoury, A., Rokahr, T., Parusel, S., Burgkart, R., Bicchi, A., and Albu-Schaeffer, A., Biomechanisch sichere Geschwindigkeitsregelung fur die Mensch-Roboter Interaktion, At-Automatisierungstechnik , vol. 62, no. 3 , pp. 175 - 187, 2014. PDF icon 2013_HHKRPBBS.pdf (801.7 KB)
A. De Santis, Siciliano, B., Luca, A. D., and Bicchi, A., An atlas of physical human-robot interaction, Mechanism and Machine Theory, vol. 43, pp. 253-270, 2007. PDF icon [PDF] (249.19 KB)
Z. Li, Chen, Z., A. Ajoudani, Yang, C., Su, C., and Bicchi, A., Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations, IEEE Transactions on Robotics, vol. 34, no. 1, 2017 [Online]. Available:
S. Fani, Bianchi, M., Jain, S., J. Neto, P., Boege, S., Grioli, G., Bicchi, A., and Santello, M., Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications, Frontiers in Neurorobotics, vol. 10, no. 11, 2016 [Online]. Available: icon [PDF] (2.92 MB)
A. Greco, Valenza, G., Bicchi, A., Bianchi, M., and Scilingo, E. P., Assessment of muscle fatigue during isometric contraction using autonomic nervous system correlates, Biomedical Signal Processing and Control, vol. 51, 2019 [Online]. Available: icon grecoetal_bspc_2ndrev_submit_2.pdf (175.58 KB)
S. Manara, Gasparri, G. M., Garabini, M., Caporale, D., Gabiccini, M., and Bicchi, A., Analysis of series elasticity in locomotion of a planar bipedal robot, INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL, 2019. PDF icon analysisserieselasticitylocomotionplanarbipedalrobot.pdf (1.42 MB)