21 citations · 55 across the 17 of their papers we have counts for
17 papers
Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
Antonio Langella, Davide Risi, Vincenzo Petrone +2
This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot while resolving the long-standing unreliability of its external posit…
A New Human-Likeness and Comfort Index for Robot Movements Along Prescribed Paths
Rosanna Coccaro, Enrico Ferrentino, Antonio Parziale +2
As human-robot interaction rapidly spreads in numerous fields, the subject of robot acceptance gains increasing importance. Visual similarity to the human body, as occurs for human…
Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation
Davide Risi, Vincenzo Petrone, Antonio Langella +3
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them…
Improving dependability in robotized bolting operations
Lorenzo Pagliara, Vincenzo Petrone, Violeta Redondo +3
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solution…
Augmenting Neural Networks-Based Model Approximators in Robotic Force-Tracking Tasks
Kevin Saad, Vincenzo Petrone, Enrico Ferrentino +3
As robotics gains popularity, interaction control becomes crucial for ensuring force tracking in manipulator-based tasks. Typically, traditional interaction controllers either requ…
A ROS2-based software library for inverse dynamics computation
Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio
Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This…
Haptic bilateral teleoperation system for free-hand dental procedures
Lorenzo Pagliara, Vincenzo Petrone, Enrico Ferrentino +2
Free-hand dental procedures are typically repetitive, time-consuming and require high precision and manual dexterity. Robots can play a key role in improving procedural accuracy an…
The Dynamic Model of the UR10 Robot and its ROS2 Integration
Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio
This paper presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First…
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks
Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio
This position paper explores the integration of Artificial Intelligence (AI) into force-controlled robotic tasks within the scope of advanced manufacturing, a cornerstone of Indust…
Human-Robot Interface for Teleoperated Robotized Planetary Sample Collection and Assembly
Lorenzo Pagliara, Vincenzo Petrone, Enrico Ferrentino +1
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are…
Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction
Federica Storiale, Enrico Ferrentino, Federico Salvioli +2
Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the contr…
Safe haptic teleoperations of admittance controlled robots with virtualization of the force feedback
Lorenzo Pagliara, Enrico Ferrentino, Andrea Chiacchio +1
Haptic teleoperations play a key role in extending human capabilities to perform complex tasks remotely, employing a robotic system. The impact of haptics is far-reaching and can i…
Benchmarking Population-Based Reinforcement Learning across Robotic Tasks with GPU-Accelerated Simulation
Asad Ali Shahid, Yashraj Narang, Vincenzo Petrone +5
In recent years, deep reinforcement learning (RL) has shown its effectiveness in solving complex continuous control tasks. However, this comes at the cost of an enormous amount of…
A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints
Enrico Ferrentino, Heitor J. Savino, Antonio Franchi +1
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is…
Time-Optimal Trajectory Planning with Interaction with the Environment
Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in con…
Discrete fully probabilistic design: towards a control pipeline for the synthesis of policies from examples
Enrico Ferrentino, Pasquale Chiacchio, Giovanni Russo
We present the principled design of a control pipeline for the synthesis of policies from examples data. The pipeline, based on a discretized design which we term as discrete fully…
Planning of efficient trajectories in robotized assembly of aerostructures exploiting kinematic redundancy
Federica Storiale, Enrico Ferrentino, Pasquale Chiacchio
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, h…