72 citations · 95 across the 8 of their papers we have counts for
9 papers
Imp-ACT: Adaptive Impedance Control and Action Chunking with Transformers to Learn Contact-Rich Manipulation from Demonstrations
Luca Zanetti, Doganay Sirintuna, Idil Ozdamar +3
Contact-rich manipulation requires robots to balance accurate motion tracking with compliant interaction, yet most visual-action policies leave compliance fixed at the controller l…
A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots
Hamidreza Raei, Juan M. Gandarias, Elena De Momi +2
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/de…
A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER)
A. Fortuna, M. Lorenzini, M. Leonori +5
Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide su…
Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Pietro Balatti, Idil Ozdamar, Doganay Sirintuna +4
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key…
A Human Motion Compensation Framework for a Supernumerary Robotic Arm
Xin Zhang, Pietro Balatti, Mattia Leonori +1
Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a connected kinodynamic chain,…
Pick the Right Co-Worker: Online Assessment of Cognitive Ergonomics in Human-Robot Collaborative Assembly
Marta Lagomarsino, Marta Lorenzini, Pietro Balatti +2
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online an…
A Self-Tuning Impedance-based Interaction Planner for Robotic Haptic Exploration
Yasuhiro Kato, Pietro Balatti, Juan M. Gandarias +3
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using hapt…
SUPER-MAN: SUPERnumerary Robotic Bodies for Physical Assistance in HuMAN-Robot Conjoined Actions
Alberto Giammarino, Juan M. Gandarias, Pietro Balatti +3
This paper presents a mobile supernumerary robotic approach to physical assistance in human-robot conjoined actions. The study starts with a description of the SUPER-MAN concept. T…
Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface
Juan M. Gandarias, Pietro Balatti, Edoardo Lamon +2
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-…