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Tools for semiglobal practical stability analysis of cascaded systems and applications

TitleTools for semiglobal practical stability analysis of cascaded systems and applications
Publication TypeBook Chapter
Year of Publication2006
AuthorsChaillet, A
Series TitleInternational Scientific and Technical Encyclopedia
Chapterin Proceedings of the CTS–HYCON Workshop
CityParis, France
KeywordsRobotics
Abstract

We present sufficient conditions for semiglobal and/or practical stability in terms of Lyapunov-like functions. Based on this, we provide a result for the stability analysis of cascaded systems. A converse result is also presented for a particular class of uniformly semiglobally practically asymptotically stable systems. We briefly show the usefulness of these results through various applications in the control of mechanical systems.

Electrocutaneous stimulation of skin mechanoreceptors for tactile studies with functional Magnetic Resonance Imaging

TitleElectrocutaneous stimulation of skin mechanoreceptors for tactile studies with functional Magnetic Resonance Imaging
Publication TypeBook Chapter
Year of Publication2007
AuthorsHartwig, V, Cappelli, C, Vanello, N, Ricciardi, E, Scilingo, EP, Giovannetti, G, Santarelli, MF, Positano, V, Bicchi, A, Pietrini, P, Landini, L
Book TitleEncyclopedia of Healthcare Information Systems
Pagination497 - 503
PublisherMedical Information Science
KeywordsHaptics

The Sense of Touch and its Rendering: Progresses in Haptics Research

TitleThe Sense of Touch and its Rendering: Progresses in Haptics Research
Publication TypeBook Chapter
Year of Publication2008
AuthorsSgambelluri, N, Scilingo, EP, Rizzo, R, Bicchi, A
EditorBicchi, A, Buss, M, Ernst, M, Peer, A
Series TitleSpringer Tracts in Advanced Robotics (STAR)
Volume45/2008
ChapterRheological Device
Pagination155-178
PublisherSpringer
CityBerlin, Heidelberg
KeywordsHaptics, Robotics
Abstract

In this work we investigate the possibility of mimicking haptic perception by using rheological materials. An analysis of the rheological behaviour of some "smart fluids", such as Electro-rheological Fluids (ERFs) and Magneto-rheological Fluids (MRFs), is provided to design new haptic interfaces capable of reproducing shape and compliance of some virtual objects. Some theoretical design considerations are discussed and supported by magnetic simulations implemented by means of a numerical code. Several prototypes were designed and realized through a progressive enhancement of performance up to a final 3D immersive device. Furthermore, to assess performance a set of psychophysical tests was carried out and experimental results in terms of softness and shape recognition are reported.

The Sense of Touch and its Rendering: Progresses in Haptics Research

TitleThe Sense of Touch and its Rendering: Progresses in Haptics Research
Publication TypeBook Chapter
Year of Publication2008
AuthorsScilingo, EP, Sgambelluri, N, Bicchi, A
EditorBicchi, A, Buss, M, Ernst, M, Peer, A
Series TitleSpringer Tracts in Advanced Robotics (STAR)
Volume45/2008
ChapterThe Role of Tactile Flow in Processing Dynamic Haptic Stimuli
Pagination39 - 60
PublisherSpringer
CityBerlin, Heidelberg
KeywordsHaptics, Robotics
Abstract

Dynamic stimuli in visual and tactile sensory modalities share fundamental psychophysical features that can be explained by similar computational models. In vision, information about relative motion between objects and the observer are mainly processed by optic flow, which is a 2D field of velocities associated with variation of brightness patterns in the image plane. It provides important information about cues for region and boundary segmentation, shape recovery, and so on. For instance, radial patterns of optic flow are often used to estimate time before contact with an approaching object. We put forward the hypothesis that a similar behavior can be present in the tactile domain, in which an analogous paradigm to optic flow might exist. Moreover, as optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect and Ouchi

Whole Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts To Increase Dexterity

TitleWhole Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts To Increase Dexterity
Publication TypeBook Chapter
Year of Publication1993
AuthorsVassura, G, Bicchi, A
EditorDario, P, Aebischer, P, Sandini, G
Book TitleRobots and Biological Systems
Series TitleNATO-ASI Series F: Computer and Systems Sciences, vol. 102
PublisherSpringer Verlag
CityBerlin Heidelberg, Germany
KeywordsHaptics, Robotics

Contact and Grasp Robustness Measures: Analysis and Experiments

TitleContact and Grasp Robustness Measures: Analysis and Experiments
Publication TypeBook Chapter
Year of Publication1996
AuthorsPrattichizzo, D, Salisbury, JK, Bicchi, A
EditorKhatib, O, Salisbury, K
Book TitleExperimental Robotics-IV
Series TitleLNCIS 223
PublisherSpringer Verlag
CityBerlin Heidelberg, Germany
KeywordsGrasping, Haptics, Robot Hands
AbstractIn this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so–called ``Instrumented Talon'', are reported as an illustration.

Observer Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy

TitleObserver Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy
Publication TypeBook Chapter
Year of Publication2000
AuthorsConticelli, F, Bicchi, A
EditorIsidori, A, Lamnabhi-Lagarrigue, FF, Respondek, W
Book TitleNonlinear Control in the Year 2000
Series TitleLNCIS
Volume258
Pagination315-330
PublisherSpringer-Verlag
CityBerlin Heidelberg, Germany
KeywordsLocalization and Mapping, Nonlinear Control Systems

Optimal planning for coordinated vehicles with bounded curvature

TitleOptimal planning for coordinated vehicles with bounded curvature
Publication TypeBook Chapter
Year of Publication2000
AuthorsBicchi, A, Pallottino, L
EditorDonald, B, Lynch, K, Rus, D
Book TitleAlgorithmic and Computational Robotics: New Directions
Volume1
Pagination167-172
PublisherA K Peters, MA
KeywordsAir Traffic Management Systems, Autonomous Vehicles, Navigation and Planning
AbstractIn this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.
NotesThe Workshop on Algorithmic Foundations of Robotics

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