9 citations · 12 across the 9 of their papers we have counts for
9 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…
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…
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…