19 citations · 34 across the 7 of their papers we have counts for
8 papers
Tactile Reconstruction of Contact Task Frames and Forces for Hybrid Force/Motion Control
Antonio Rapuano, Simone Orelli, Barbara Bazzana +2
Hybrid force/motion control requires knowledge of the interaction force and of a task frame defining the force- and motion-controlled directions. These quantities are usually obtai…
On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
Giulio Turrisi, Marco Capotondi, Claudio Gaz +3
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the…
Nonlinear Modes as a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots
Pietro Pustina, Davide Calzolari, Alin Albu-Schäffer +2
Continuum soft robots are nonlinear mechanical systems with theoretically infinite degrees of freedom (DoFs) that exhibit complex behaviors. Achieving motor intelligence under dyna…
Recursive Model-agnostic Inverse Dynamics of Serial Soft-Rigid Robots
Pietro Pustina, Cosimo Della Santina, Alessandro De Luca
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements…
Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and its Application to Soft Robotics
Pietro Pustina, Cosimo Della Santina, Frédéric Boyer +2
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformati…
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints
Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir +2
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously pr…
Reduced-order observer design for a robotic manipulator
Andrea Cristofaro, Alessandro De Luca
This paper investigates the design of reduced-order observers for robotic manipulators. Observer stability conditions are obtained based on a Lyapunov analysis and the proposed obs…
Motion Control of Redundant Robots with Generalised Inequality Constraints
Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir +1
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion…