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6,603 results on '"Siciliano, Bruno"'

1. Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform

Author

Marcellini, Salvatore, D'Angelo, Simone, De Crescenzo, Alessandro, Marolla, Michele, Lippiello, Vincenzo, and Siciliano, Bruno

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect structures and perform non-destructive measurements. A parallel force-impedance control technique is developed to establish contact with the designed surface with a desired force profile. During the interaction, a pushing phase is required to create a vacuum between the surface and the echometer sensor mounted at the end-effector, to measure the thickness of the interaction surface. Repetitive measures are performed to show the repeatability of the algorithm., Comment: In proceedings of 18th International Symposium on Experimental Robotics (ISER 2023)

Published
2024

2. Ethics and Robotics in the Fourth industrial revolution

Author

SICILIANO, BRUNO and TAMBURRINI, GUGLIELMO

Subjects
ethics, robotics, fourt industrial revolution, Epistemology. Theory of knowledge, BD143-237, Ethics, BJ1-1725
Abstract

Ethics and robotics in the fourth industrial revolution The current industrial revolution, characterised by a pervasive spread of technologies and robotic systems, also brings with it an economic, social, cultural and anthropological revolution. Work spaces will be reshaped over time, giving rise to new challenges for human‒machine interaction. Robotics is hereby inserted in a working context in which robotic systems and cooperation with humans call into question the principles of human responsibility, distributive justice and dignity of work. In particular, the responsibilities for using a robotic system in a surgical context will be discussed, along with possible problems of medium- or long-term technological unemployment to be tackled on the basis of shared concepts of distributive justice. Finally, the multiple dimensions of human dignity in the working context are dealt with in terms of dignity of work, dignity at work and dignity in human‒machine interaction.

Published
2019

3. Human-Robot Interactive Framework with Remote Center of Motion and Virtual Fixtures for Minimally Invasive Robotic Surgery

Author

Pecorella, Claudia, Iacono, Cristina, Siciliano, Bruno, Ficuciello, Fanny, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Lenarčič, Jadran, editor, and Husty, Manfred, editor

Published
2024
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4. Robots and Humans

Author

Siciliano, Bruno, Passariello, Daniela, Rezaei, Nima, Editor-in-Chief, Santoianni, Flavia, editor, Giannini, Gianluca, editor, and Ciasullo, Alessandro, editor

Published
2024
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5. Aerial Manipulator Interaction with the Environment

Author

Orozco-Soto, Santos M., Cuniato, Eugenio, Cacace, Jonathan, Selvaggio, Mario, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno, Grimble, Michael J., Series Editor, Goodwin, Graham, Editorial Board Member, Harris, Thomas J., Editorial Board Member, Lee, Tong Heng, Editorial Board Member, Malik, Om P., Editorial Board Member, Man, Kim-Fung, Editorial Board Member, Olsson, Gustaf, Editorial Board Member, Ray, Asok, Editorial Board Member, Engell, Sebastian, Editorial Board Member, Yamamoto, Ikuo, Editorial Board Member, L'Afflitto, Andrea, editor, Inalhan, Gokhan, editor, and Shin, Hyo-Sang, editor

Published
2024
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6. A General Framework for Hierarchical Redundancy Resolution Under Arbitrary Constraints

Author

Fiore, Mario D., Meli, Gaetano, Ziese, Anton, Siciliano, Bruno, and Natale, Ciro

Subjects
Computer Science - Robotics
Abstract

The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple tasks as well as hard constraints efficiently. This paper presents a general framework in which both kinematic (velocity- or acceleration-based) and dynamic (torque-based) control of redundant robots are handled in a unified fashion. The framework allows for the specification of redundancy resolution problems featuring a hierarchy of arbitrary (equality and inequality) constraints, arbitrary weighting of the control effort in the cost function and an additional input used to optimize possibly remaining redundancy. To solve such problems, a generalization of the Saturation in the Null Space (SNS) algorithm is introduced, which extends the original method according to the features required by our general control framework. Variants of the developed algorithm are presented, which ensure both efficient computation and optimality of the solution. Experiments on a KUKA LBRiiwa robotic arm, as well as simulations with a highly redundant mobile manipulator are reported., Comment: Accepted to Transactions on Robotics (T-RO). Final version in preparaton. 20 pages, 19 figures

Published
2022
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9. Fusing Visuo-Tactile Perception into Kernelized Synergies for Robust Grasping and Fine Manipulation of Non-rigid Objects

Author

Katyara, Sunny, Deshpande, Nikhil, Ficuciello, Fanny, Chen, Fei, Siciliano, Bruno, and Caldwell, Darwin G.

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Handling non-rigid objects using robot hands necessities a framework that does not only incorporate human-level dexterity and cognition but also the multi-sensory information and system dynamics for robust and fine interactions. In this research, our previously developed kernelized synergies framework, inspired from human behaviour on reusing same subspace for grasping and manipulation, is augmented with visuo-tactile perception for autonomous and flexible adaptation to unknown objects. To detect objects and estimate their poses, a simplified visual pipeline using RANSAC algorithm with Euclidean clustering and SVM classifier is exploited. To modulate interaction efforts while grasping and manipulating non-rigid objects, the tactile feedback using T40S shokac chip sensor, generating 3D force information, is incorporated. Moreover, different kernel functions are examined in the kernelized synergies framework, to evaluate its performance and potential against task reproducibility, execution, generalization and synergistic re-usability. Experiments performed with robot arm-hand system validates the capability and usability of upgraded framework on stably grasping and dexterously manipulating the non-rigid objects., Comment: IEEE ICRA 2022 (under review)

Published
2021

10. Intuitive Tasks Planning Using Visuo-Tactile Perception for Human Robot Cooperation

Author

Katyara, Sunny, Ficuciello, Fanny, Teng, Tao, Chen, Fei, Siciliano, Bruno, and Caldwell, Darwin G.

Subjects
Electrical Engineering and Systems Science - Systems and Control
Abstract

Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic tasks following human viewpoint by incorporating visuo-tactile perception. The visual data using depth cameras surveils and determines the object dimensions and human intentions while the tactile sensing ensures to maintain the desired contact to avoid slippage. Experiment performed on robot platform with human assistance under industrial settings validates the performance and applicability of proposed intuitive task formulation., Comment: ICRA2021 ViTac Workshop contribution

Published
2021

11. Formulating Intuitive Stack-of-Tasks using Visuo-Tactile Perception for Collaborative Human-Robot Fine Manipulation

Author

Katyara, Sunny, Deshpande, Nikhil, Ficuciello, Fanny, Teng, Tao, Siciliano, Bruno, Caldwell, Darwin G., and Chen, Fei

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Enabling robots to work in close proximity to humans necessitates a control framework that does not only incorporate multi-sensory information for autonomous and coordinated interactions but also has perceptive task planning to ensure an adaptable and flexible collaborative behaviour. In this research, an intuitive stack-of-tasks (iSoT) formulation is proposed, that defines the robot's actions by considering the human-arm postures and the task progression. The framework is augmented with visuo-tactile information to effectively perceive the collaborative environment and intuitively switch between the planned sub-tasks. The visual feedback from depth cameras monitors and estimates the objects' poses and human-arm postures, while the tactile data provides the exploration skills to detect and maintain the desired contacts to avoid object slippage. To evaluate the performance, effectiveness and usability of the proposed framework, assembly and disassembly tasks, performed by the human-human and human-robot partners, are considered and analyzed using distinct evaluation metrics i.e, approach adaptation, grasp correction, task coordination latency, cumulative posture deviation, and task repeatability.

Published
2021

12. Effects of Design Parameters on the Tip Steering Capabilities of Fabric Pneumatic Artificial Muscle-actuated Soft Growing Robots

Author

Selvaggio, Mario, Grazioso, Stanislao, Fusco, Salvatore, Sabella, Roberto, Fontanelli, Giuseppe Andrea, Di Gironimo, Giuseppe, Siciliano, Bruno, Lanzotti, Antonio, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Ivanov, Vitalii, Series Editor, Cavas-Martínez, Francisco, Editorial Board Member, di Mare, Francesca, Editorial Board Member, Haddar, Mohamed, Editorial Board Member, Kwon, Young W., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Gerbino, Salvatore, editor, Lanzotti, Antonio, editor, Martorelli, Massimo, editor, Mirálbes Buil, Ramón, editor, Rizzi, Caterina, editor, and Roucoules, Lionel, editor

Published
2023
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13. Vision Based Adaptation to Kernelized Synergies for Human Inspired Robotic Manipulation

Author

Katyara, Sunny, Ficuciello, Fanny, Chen, Fei, Siciliano, Bruno, and Caldwell, Darwin G.

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Humans in contrast to robots are excellent in performing fine manipulation tasks owing to their remarkable dexterity and sensorimotor organization. Enabling robots to acquire such capabilities, necessitates a framework that not only replicates the human behaviour but also integrates the multi-sensory information for autonomous object interaction. To address such limitations, this research proposes to augment the previously developed kernelized synergies framework with visual perception to automatically adapt to the unknown objects. The kernelized synergies, inspired from humans, retain the same reduced subspace for object grasping and manipulation. To detect object in the scene, a simplified perception pipeline is used that leverages the RANSAC algorithm with Euclidean clustering and SVM for object segmentation and recognition respectively. Further, the comparative analysis of kernelized synergies with other state of art approaches is made to confirm their flexibility and effectiveness on the robotic manipulation tasks. The experiments conducted on the robot hand confirm the robustness of modified kernelized synergies framework against the uncertainties related to the perception of environment.

Published
2020

14. Force and state-feedback control for robots with non-collocated environmental and actuator forces

Author

Donaire, Alejandro, Villani, Luigi, Ficuciello, Fanny, Tomassini, Juan, and Siciliano, Bruno

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control, Mathematics - Optimization and Control
Abstract

In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of forces and states allows the controller for an extra degree of freedom to approximate the desired impedance port behaviour. A numerical analysis is used to demonstrate the desired impedance closed-loop behaviour.

Published
2020

15. Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots

Author

Katyara, Sunny, Ficuciello, Fanny, Caldwell, Darwin G., Chen, Fei, and Siciliano, Bruno

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches are moving. Moreover, the reproducibility of robot pruning skills is another challenge to deal with due to the heterogeneous nature of vines in the vineyard. This research proposes a multi-modal framework to deal with the dynamic vines with the aim of sim2real skill transfer. The 3D models of vines are constructed in blender engine and rendered in simulated environment as a need for training the robot. The Natural Admittance Controller (NAC) is applied to deal with the dynamics of vines. It uses force feedback and compensates the friction effects while maintaining the passivity of system. The faster R-CNN is used to detect the spurs on the vines and then statistical pattern recognition algorithm using K-means clustering is applied to find the effective pruning points. The proposed framework is tested in simulated and real environments., Comment: Under Review at SPAR

Published
2020

16. Leveraging Kernelized Synergies on Shared Subspace for Precision Grasp and Dexterous Manipulation

Author

Katyara, Sunny, Ficuciello, Fanny, Caldwell, Darwin, Siciliano, Bruno, and Chen, Fei

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Manipulation in contrast to grasping is a trajectorial task that needs to use dexterous hands. Improving the dexterity of robot hands, increases the controller complexity and thus requires to use the concept of postural synergies. Inspired from postural synergies, this research proposes a new framework called kernelized synergies that focuses on the re-usability of the same subspace for precision grasping and dexterous manipulation. In this work, the computed subspace of postural synergies; parameterized by probabilistic movement primitives, is treated with kernel to preserve its grasping and manipulation characteristics and allows its reuse for new objects. The grasp stability of the proposed framework is assessed with a force closure quality index. For performance evaluation, the proposed framework is tested on two different simulated robot hand models using the Syngrasp toolbox and experimentally, four complex grasping and manipulation tasks are performed and reported. The results confirm the hand agnostic approach of the proposed framework and its generalization to distinct objects irrespective of their shape and size.

Published
2020

17. Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-based Human Guiding Problem

Author

Tognon, Marco, Alami, Rachid, and Siciliano, Bruno

Subjects
Computer Science - Robotics
Abstract

Today, physical Human-Robot Interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, Aerial Physical Interaction (APhI) is also developing very fast. Nevertheless, pHRI with aerial vehicles has not been addressed so far. In this work, we present the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable. We want the robot to be able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel. We propose an admittance-based approach that makes pHRI safe. A controller, inspired by the literature on flexible manipulators, computes the desired interaction forces that properly guide the human. The stability of the system is formally proved with a Lyapunov-based argument. The system is also shown to be passive, and thus robust to non-idealities like additional human forces, time-varying inputs, and other external disturbances. We also design a maneuver regulation policy to simplify the path following problem. The global method has been experimentally validated on a group of four subjects, showing a reliable and safe pHRI.

Published
2020

18. Robots Working in the Backroom: Depalletization of Mixed-Case Pallets

Author

Arpenti, Pierluigi, Caccavale, Riccardo, Fontanelli, Andrea Giuseppe, Lippiello, Vincenzo, Paduano, Gianmarco, Siciliano, Bruno, Villani, Luigi, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, Villani, Luigi, editor, Natale, Ciro, editor, and Beetz, Michael, editor

Published
2022
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19. Non-rigid Tracking Using RGB-D Data

Author

Petit, Antoine, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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20. Planning Framework for Robotic Pizza Dough Stretching with a Rolling Pin

Author

Kim, Jung-Tae, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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21. Nonholonomic Rolling Nonprehensile Manipulation Primitive

Author

Gutierrez-Giles, Alejandro, Satici, Aykut C., Donaire, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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22. Smoothed Particle Hydrodynamics-Based Viscous Deformable Object Modelling

Author

Kim, Jung-Tae, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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23. Deformation Modelling for a Physics-Based Perception System

Author

Petit, Antoine, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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24. A Coordinate-Free Framework for Robotic Pizza Tossing and Catching

Author

Satici, Aykut C., Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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25. Pizza-Peel Handling Through a Sliding Nonprehensile Manipulation Primitive

Author

Gutierrez-Giles, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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26. Holonomic Rolling Nonprehensile Manipulation Primitive

Author

Donaire, Alejandro, Ruggiero, Fabio, Lippiello, Vincenzo, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ruggiero, Fabio, editor

Published
2022
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27. The PRISMA Hand II: A Sensorized Robust Hand for Adaptive Grasp and In-Hand Manipulation

Author

Liu, Huan, Ferrentino, Pasquale, Pirozzi, Salvatore, Siciliano, Bruno, Ficuciello, Fanny, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Asfour, Tamim, editor, Yoshida, Eiichi, editor, and Christensen, Henrik, editor

Published
2022
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28. On the Use of Cayley Transform for Kinematic Shape Reconstruction of Soft Continuum Robots

Author

Grazioso, Stanislao, Gironimo, Giuseppe Di, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Asfour, Tamim, editor, Yoshida, Eiichi, editor, and Christensen, Henrik, editor

Published
2022
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29. Artificial Intelligence and liver: Opportunities and barriers

Author

Brunetto, Maurizia Rossana, Bonino, Ferruccio, Montalti, Roberto, Campanile, Silvia, Persico, Marcello, Alvaro, Domenico, Santini, Silvano, Jr., Invernizzi, Pietro, Carbone, Marco, Masarone, Mario, Eccher, Albino, Siciliano, Bruno, Vento, Mario, Ficuciello, Fanny, Cabitza, Federico, Penasa, Simone, Donatelli, Piergiorgio, Balsano, Clara, Burra, Patrizia, Duvoux, Christophe, Alisi, Anna, Piscaglia, Fabio, and Gerussi, Alessio

Published
2023
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31. Reproducible Pruning System on Dynamic Natural Plants for Field Agricultural Robots

Author

Katyara, Sunny, Ficuciello, Fanny, Caldwell, Darwin G., Chen, Fei, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Saveriano, Matteo, editor, Renaudo, Erwan, editor, Rodríguez-Sánchez, Antonio, editor, and Piater, Justus, editor

Published
2021
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32. Modeling and Simulation of Hybrid Soft Robots Using Finite Element Methods: Brief Overview and Benefits

Author

Grazioso, Stanislao, Di Gironimo, Giuseppe, Rosati, Luciano, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, and Lenarčič, Jadran, editor

Published
2021
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38. Introduction

Author

Ollero, Anibal, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ollero, Anibal, editor

Published
2019
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39. From Differential Geometry of Curves to Helical Kinematics of Continuum Robots Using Exponential Mapping

Author

Grazioso, Stanislao, Di Gironimo, Giuseppe, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Lenarcic, Jadran, editor, and Parenti-Castelli, Vincenzo, editor

Published
2019
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40. Multifunctional Principal Component Analysis for Human-Like Grasping

Author

Monforte, Marco, Ficuciello, Fanny, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Ficuciello, Fanny, editor, Ruggiero, Fabio, editor, and Finzi, Alberto, editor

Published
2019
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41. Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project

Author

Ruggiero, Fabio, Kim, Jung-Tae, Gutierrez-Giles, Alejandro, Satici, Aykut C., Donaire, Alejandro, Cacace, Jonathan, Buonocore, Luca Rosario, Fontanelli, Giuseppe Andrea, Lippiello, Vincenzo, Siciliano, Bruno, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martin, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Gusikhin, Oleg, editor, and Madani, Kurosh, editor

Published
2020
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44. Conclusions and Future Directions

Author

Ollero, Anibal, Siciliano, Bruno, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Amato, Nancy, Advisory Editor, Brock, Oliver, Advisory Editor, Bruyninckx, Herman, Advisory Editor, Burgard, Wolfram, Advisory Editor, Chatila, Raja, Advisory Editor, Chaumette, Francois, Advisory Editor, Chung, Wan Kyun, Advisory Editor, Corke, Peter, Advisory Editor, Dario, Paolo, Advisory Editor, De Luca, Alessandro, Advisory Editor, Dillmann, Rüdiger, Advisory Editor, Goldberg, Ken, Advisory Editor, Hollerbach, John, Advisory Editor, Kavraki, Lydia E., Advisory Editor, Kumar, Vijay, Advisory Editor, Nelson, Bradley J., Advisory Editor, Park, Frank Chongwoo, Advisory Editor, Salcudean, S. E., Advisory Editor, Siegwart, Roland, Advisory Editor, Sukhatme, Gaurav S., Advisory Editor, and Ollero, Anibal, editor

Published
2019
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46. Online Estimation of Impedance Parameters for a Variable Impedance Controlled Robotic Manipulator

Author

Bhole, Ajinkya, Ficuciello, Fanny, Mashayekhi, Ahmad, Strano, Salvatore, Terzo, Mario, Villani, Luigi, Siciliano, Bruno, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Velinsky, Steven A., Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Carbone, Giuseppe, editor, and Gasparetto, Alessandro, editor

Published
2019
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47. Human Cognition-Inspired Robotic Grasping

Author

Monforte, Marco, Ficuciello, Fanny, Siciliano, Bruno, Tzafestas, S.G., Series Editor, Antsaklis, P., Advisory Editor, Borne, P., Advisory Editor, Carelli, R., Advisory Editor, Fukuda, T., Advisory Editor, Gans, N.R., Advisory Editor, Harashima, F., Advisory Editor, Martinet, P., Advisory Editor, Monaco, S., Advisory Editor, Negenborn, R.R., Advisory Editor, Pascoal, A.M., Advisory Editor, Schmidt, G., Advisory Editor, Sobh, T.M., Advisory Editor, Tzafestas, C., Advisory Editor, Valavanis, K., Advisory Editor, Aldinhas Ferreira, Maria Isabel, editor, Silva Sequeira, João, editor, and Ventura, Rodrigo, editor

Published
2019
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