105 citations · 224 across the 13 of their papers we have counts for
16 papers
Safe Multimodal Communication in Human-Robot Collaboration
Davide Ferrari, Andrea Pupa, Alberto Signoretti +1
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, ho…
Energy Tank-based Control Framework for Satisfying the ISO/TS 15066 Constraint
Federico Benzi, Federica Ferraguti, Cristian Secchi
The technical specification ISO/TS 15066 provides the foundational elements for assessing the safety of collaborative human-robot cells, which are the cornerstone of the modern ind…
On the use of energy tanks for robotic systems
Federico Califano, Ramy Rashad, Cristian Secchi +1
In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article h…
A Null-space based Approach for a Safe and Effective Human-Robot Collaboration
Federico Benzi, Cristian Secchi
During physical human robot collaboration, it is important to be able to implement a time-varying interactive behaviour while ensuring robust stability. Admittance control and pass…
Whole-Body Control of a Mobile Manipulator for Passive Collaborative Transportation
Federico Benzi, Cristian Mancus, Cristian Secchi
Human-robot collaborative tasks foresee interactions between humans and robots with various degrees of complexity. Specifically, for tasks which involve physical contact among the…
Bidirectional Communication Control for Human-Robot Collaboration
Davide Ferrari, Federico Benzi, Cristian Secchi
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the exec…
A Dynamic Architecture for Task Assignment and Scheduling for Collaborative Robotic Cells
Andrea Pupa, Chiara Talignani Landi, Mattia Bertolani +1
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling…
An Optimization Approach for a Robust and Flexible Control in Collaborative Applications
Federico Benzi, Cristian Secchi
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it is pivotal to guarantee the robust stability of the system during the interaction but als…
A Human-Centered Dynamic Scheduling Architecture for Collaborative Application
Andrea Pupa, Wietse Van Dijk, Cristian Secchi
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be e…
A Safety-Aware Kinodynamic Architecture for Human-Robot Collaboration
Andrea Pupa, Mohammad Arrfou, Gildo Andreoni +1
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, th…
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…
Interacting With a Mobile Robot with a Natural Infrastructure-Less Interface
Valeria Villani, Lorenzo Sabattini, Giuseppe Riggio +3
In this paper we introduce a novel approach that enables users to interact with a mobile robot in a natural manner. The proposed interaction system does not require any specific in…
Admittance Control Parameter Adaptation for Physical Human-Robot Interaction
Chiara Talignani Landi, Federica Ferraguti, Lorenzo Sabattini +2
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for th…
Achieving the Desired Dynamic Behavior in Multi-Robot Systems Interacting with the Environment
Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general method…
Enforcing Biconnectivity in Multi-robot Systems
Mehran Zareh, Lorenzo Sabattini, Cristian Secchi
Connectivity maintenance is an essential task in multi-robot systems and it has received a considerable attention during the last years. A connected system can be broken into two o…
Decentralized Biconnectivity Conditions in Multi-robot Systems
Mehran Zareh, Lorenzo Sabattini, Cristian Secchi
The network connectivity in a group of cooperative robots can be easily broken if one of them loses its connectivity with the rest of the group. In case of having robustness with r…