24 citations · 24 across the 3 of their papers we have counts for
7 papers
Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance
Francesco Cufino, Carmela Mariniello, Mario Selvaggio +2
Manipulation tasks such as unscrewing a cap or sliding a part in contact with a surface require imposing force along a high-friction direction: the robot must overcome a resistance…
Robust Nonprehensile Object Transport with Quadruped Robots
Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio +2
In this paper, we present a robust nonprehensile object transportation framework for quadruped robots. An uncertainty-aware trajectory optimization method generates object motions…
Understanding User Preferences of a Slope-Aware Variable-Admittance Filter for a Robot Guide Dog
Federico Esposito, Mario Selvaggio, Aaron Link +1
This letter investigates how the parameters of a slope-aware variable-admittance filter influence user preferences in force-based interaction with a robotic guide dog for visually…
Compliant Non-Prehensile Pushing Manipulation
Francesco Cufino, Mario Selvaggio, Fabio Amadio +1
In this paper, we address the challenge of performing non-prehensile pushing operations with a compliant robotic manipulation system. To ensure safe operations in human-populated e…
Extended Set-based Tasks for Multi-task Execution and Prioritization
Gennaro Notomista, Mario Selvaggio, Francesca Pagano +4
The ability of executing multiple tasks simultaneously is an important feature of redundant robotic systems. As a matter of fact, complex behaviors can often be obtained as a resul…
Shared-Control Teleoperation Paradigms on a Soft Growing Robot Manipulator
Fabio Stroppa, Mario Selvaggio, Nathaniel Agharese +4
Semi-autonomous telerobotic systems allow both humans and robots to exploit their strengths, while enabling personalized execution of a task. However, for new soft robots with degr…
A Set-Theoretic Approach to Multi-Task Execution and Prioritization
Gennaro Notomista, Siddharth Mayya, Mario Selvaggio +2
Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need…