5 papers
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, Violeta Redondo, Enrico Ferrentino +2
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solution…
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…
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…
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…