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...
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...
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,...
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...
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...
Abstract: In this paper, we present and compare the design and the performances of ten different implementations for a 16-bit adder in a 180nm CMOS standard-cell technology. Ripple carry adder, increment adder, triangle adder, uniform and progressive...
In this work we propose, for the rst time, to improve the performance of a hand pose reconstruction (HPR) technique from RGBD camera data, which is aected by self-occlusions, leveraging upon postural synergy information, i.e., a priori information on...
Haptic interfaces are special robots that interact with people to convey touch-related information. In addition to such a discriminative aspect, touch is also a highly emotionrelated sense. However, while a lot of effort has been spent to investigate...
Softness represents one of the most informative haptic properties, which plays a fundamental role in both everyday tasks and more complex procedures. Thus, it is not surprising that a lot of effort has been devoted to designing haptic systems able to...
In this work, to guarantee the Pisa/IIT SoftHand's grasp robustness against slippage, three reflex control modes, namely Current, Pose and Impedance, are implemented and experimentally evaluated. Towards this objective, ThimbleSense fingertip sensors...
Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behaviour of human fingertip....
Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure....
Area and Power consumption are important design metrics in integrated circuit (IC), in particular in those targeted for wearable devices. Σ-Δ Analog to Digital Converter (ADC) are increasing in popularity in those devices thanks to the low bandwidth of...
Wheelchair Mounted Robotic Arms (WMRA) can be used by people with severe motor skill impairment, such as SMA (Spinal Muscular Atrophy), Cerebral Palsy etc..., in order to achieve daily life tasks. Many of those systems have been presented in literature...
People with neurogenic dysfunction of urinary bladder often require daily catheterism because of their impairment. This issue is particularly critical for those that have not the urinary stimulus, because they have not the ability to understand when the...
Patients with impaired bladder volume sensation have the necessity to monitor bladder level in order to avoid urinary tract infections and urinary reflux that can lead to renal failure. In this paper the the effectiveness of an embedded and wearable...
This paper describes a hardware-in-the-loop (HiL) simulation platform specifically designed to test state estimators for Li-ion batteries in electric vehicle applications. Two promising estimators, the Mix algorithm combined with the moving window least...
A modified band-gap circuit capable of producing programmable output differential reference voltage is described. Analysis of the effects of the amplifier noise and offset on the reference voltage is performed, obtaining a compact formula of general...
A low-power, low voltage capacitance to pulse duration converter with intrinsic low sensitivity to temperature and parasitic capacitances is presented. The circuit uses a dual clock chopper modulation, which significantly lowers the effects of device...
The beam alignment requirements for the next generation of lepton colliders have become increasingly challenging. As an example, the alignment requirements for the three major collider components of the CLIC linear collider are as follows. Before the...