Risultati di ricerca
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A. Settimi, D. Caporale, P. Kryczka, M. Ferrati, L. Pallottino - Motion Primitive Based Random Planning for Loco-Manipulation Tasks
Several advanced control laws are available for complex robotic systems such as humanoid robots and mobile manipulators. Controls are usually developed for locomotion or for manipulation purposes. Resulting motions are usually exe- cuted sequentially...
https://phd.dii.unipi.it/pubblicazioni/item/1153-a-settimi,-d-caporale,-p-kryczka,-m-ferrati,-l-pallottino-motion-primitive-based-random-planning-for-loco-manipulation-tasks.html -
M. Ferrati, S. Nardi, A. Settimi, H. Marino, L. Pallottino - Multi–object handling for robotic manufacturing
The purpose of this work is to move a step toward the automation of industrial plants through full exploitation of autonomous robots. A planning algorithm is proposed to move different objects in desired configurations with heterogeneous robots such as...
https://phd.dii.unipi.it/pubblicazioni/item/1152-m-ferrati,-s-nardi,-a-settimi,-h-marino,-l-pallottino-multi–object-handling-for-robotic-manufacturing.html -
M. Ferrati, A. Settimi, L. Muratore, N. G. Tsagarakis, L. Natale and L. Pallottino - The Walk-Man Robot Software Architecture
A software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time,...
https://phd.dii.unipi.it/pubblicazioni/item/1151-m-ferrati,-a-settimi,-l-muratore,-n-g-tsagarakis,-l-natale-and-l-pallottino-the-walk-man-robot-software-architecture.html -
N. G. Tsagarakis, ... , A. Settimi, ... - WALK-MAN: A High Performance Humanoid Platform for Realistic Environments.
In this work we present WALK-MAN a humanoid platform which has been developed to operate in realistic unstructured environment and demonstrate new skills including powerful manipulation, robust balanced locomotion, high strength capabilities and...
https://phd.dii.unipi.it/pubblicazioni/item/1150-n-g-tsagarakis,-,-a-settimi,-walk-man-a-high-performance-humanoid-platform-for-realistic-environments.html -
H. Marino, M. Ferrati, A. Settimi, C. Rosales, and M. Gabiccini - On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach
Abstract - Moving objects with autonomous robots is a wide topic that includes single-arm pick-and-place tasks, object regrasping, object passing between two or more arms in the air or using support surfaces such as tables and similar. Each task has...
https://phd.dii.unipi.it/pubblicazioni/item/1149-h-marino,-m-ferrati,-a-settimi,-c-rosales,-and-m-gabiccini-on-the-problem-of-moving-objects-with-autonomous-robots-a-unifying-high-level-planning-approach.html -
J. Lee, A. Ajoudani, E. Mingo, A. Rocchi, A. Settimi, M. Ferrati, A. Bicchi, N. Tsagarakis, D. G. Caldwell: " Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task", 2014 IEEE-RAS International Conference on Human
This paper presents a high degrees-of-freedom humanoid CoMan opens a door with an impedance control strategy performing multiple subtasks in a task-priority hierarchy. The humanoid system is integrated with a visual perception, soft hands, and graphical...
https://phd.dii.unipi.it/pubblicazioni/item/255-j-lee,-a-ajoudani,-e-mingo,-a-rocchi,-a-settimi,-m-ferrati,-a-bicchi,-n-tsagarakis,-d-g-caldwell-upper-body-impedance-control-with-an-intuitive-stiffness-emulation-for-a-door-opening-task-,-2014-ieee-ras-international-conference-on-human.html -
A. Ajoudani, J. Lee, A. Rocchi, M. Ferrati, E. Mingo, A. Settimi, D. G. Caldwell, A. Bicchi, N. Tsagarakis: " A Modular Control Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task", 2014 IEEE-RAS International Conference on Hu
With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure...
https://phd.dii.unipi.it/pubblicazioni/item/254-a-ajoudani,-j-lee,-a-rocchi,-m-ferrati,-e-mingo,-a-settimi,-d-g-caldwell,-a-bicchi,-n-tsagarakis-a-modular-control-framework-for-compliant-humanoid-coman-application-to-a-valve-turning-task-,-2014-ieee-ras-international-conference-on-hu.html -
A. Ajoudani, J. Lee, A. Rocchi, M. Ferrati, E. Mingo Hoffman, A. Settimi,N. G. Tsagarakis, D. G. Caldwell, and A. Bicchi: " Dual Arm Impedance Control with a Compliant Humanoid: Application to a Valve Turning Task", IEEE/RSJ International Conference
Abstract— In this paper, a hierarchical control architecture incorporating a novel dual-arm impedance controller is proposed and experimentally evaluated in a valve turning setup. Proposed control architecture incorporates various con trol/interface...
https://phd.dii.unipi.it/pubblicazioni/item/253-a-ajoudani,-j-lee,-a-rocchi,-m-ferrati,-e-mingo-hoffman,-a-settimi,n-g-tsagarakis,-d-g-caldwell,-and-a-bicchi-dual-arm-impedance-control-with-a-compliant-humanoid-application-to-a-valve-turning-task-,-ieee-rsj-international-conference.html -
E. Mingo Hoffman, A. Rocchi, A. Settimi, M. Ferrati, C. Pavan, V. Varricchio, A. Cardellino, N. G. Tsagarakis: " Control and Perception Architecture for the Tele-Operation of Humanoid Robot COMAN", The ROS Developer Conference (ROSCON), September 201
The recent DARPA Robotics Challenge trials demonstrated many of the barriers of the current robotic technology, the complexity of the system development and the effort required to reach the performances needed to address practical tasks within...
https://phd.dii.unipi.it/pubblicazioni/item/252-e-mingo-hoffman,-a-rocchi,-a-settimi,-m-ferrati,-c-pavan,-v-varricchio,-a-cardellino,-n-g-tsagarakis-control-and-perception-architecture-for-the-tele-operation-of-humanoid-robot-coman-,-the-ros-developer-conference-roscon-,-september-201.html -
E. Mingo Hoffman, S. Traversaro, A. Rocchi, M. Ferrati, A. Settimi, L. Natale, A. Bicchi, F. Nori and N. G. Tsagarakis: "A Yarp based plugin for Gazebo Simulator", Modelling and Simulation for Autonomous Systems Workshop (MESAS), June 2014.
This paper presents a set of plugins for the Gazebo simulator that enables the interoperability between a robot, controlled using the YARP framework, and Gazebo itself. Gazebo is an open-source simulator that can handle different Dynamic Engines...
https://phd.dii.unipi.it/pubblicazioni/item/251-e-mingo-hoffman,-s-traversaro,-a-rocchi,-m-ferrati,-a-settimi,-l-natale,-a-bicchi,-f-nori-and-n-g-tsagarakis-a-yarp-based-plugin-for-gazebo-simulator-,-modelling-and-simulation-for-autonomous-systems-workshop-mesas-,-june-2014.html -
A. Settimi, C. Pavan, V. Varricchio, M. Ferrati, E. Mingo Hoffman, A. Rocchi, K. Melo, N. G. Tsagarakis and A. Bicchi: "A modular approach for remote operation of humanoid robots in search and rescue scenarios", Modelling and Simulation for Autonomou
In this work we present a modular, robust and user-friendly Pilot Interface meant to control humanoid robots in rescue scenarios during dangerous missions. YARP is used to communicate to low-level hardware components and to interconnect control modules...
https://phd.dii.unipi.it/pubblicazioni/item/250-a-settimi,-c-pavan,-v-varricchio,-m-ferrati,-e-mingo-hoffman,-a-rocchi,-k-melo,-n-g-tsagarakis-and-a-bicchi-a-modular-approach-for-remote-operation-of-humanoid-robots-in-search-and-rescue-scenarios-,-modelling-and-simulation-for-autonomou.html -
M. Ferrati, A.Settimi and L. Pallottino: "ASCARI: a component based simulator for distributed mobile robot systems", Modelling and Simulation for Autonomous Systems Workshop (MESAS), June 2014.
ASCARI is a simulator dedicated to distributed and cooperative mobile robotics systems, designed as a framework for implementing and testing multi-agent collaborative algorithms, especially suited to evaluate algorithms’ performances with a non-perfect...
https://phd.dii.unipi.it/pubblicazioni/item/249-m-ferrati,-a-settimi-and-l-pallottino-ascari-a-component-based-simulator-for-distributed-mobile-robot-systems-,-modelling-and-simulation-for-autonomous-systems-workshop-mesas-,-june-2014.html -
A. Settimi and L. Pallottino: "A Subgradient Based Algorithm for Distributed Task Assignment for Heterogeneous Mobile Robots", International Conference on Decision and Control (CDC), December 2013.
In this paper the problem of assigning tasks to a set of mobile and heterogeneous robots based on their ability and their costs to accomplish a task is considered. Moreover, the dynamics of the robot and a private cost function to be optimized together...
https://phd.dii.unipi.it/pubblicazioni/item/248-a-settimi-and-l-pallottino-a-subgradient-based-algorithm-for-distributed-task-assignment-for-heterogeneous-mobile-robots-,-international-conference-on-decision-and-control-cdc-,-december-2013.html
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