3 papers
cs.RO2025
HATPIC: An Open-Source Single Axis Haptic Joystick for Robotic Development
Julien Mellet, Fabio Ruggiero, Vincenzo Lippiello
Humans process significantly more information through the sense of touch than through vision. Consequently, haptics for telemanipulation is poised to become essential in the coming…
cs.RO2021
Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots
Yousef Farid, Fabio Ruggiero
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Ha…
cs.RO2020
Linear Time-Varying MPC for Nonprehensile Object Manipulation with a Nonholonomic Mobile Robot
Filippo Bertoncelli, Fabio Ruggiero, Lorenzo Sabattini
This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involv…