19 citations · 32 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…
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…
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…
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…
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…
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…