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Elenco Pubblicazioni - Publications (1073)

There is a great deal of interest in the understanding of possible age-related changes in Mesenchymal Stem Cells in view of their use for regenerative medicine applications. Given to the outmost standing of periosteum in…
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…
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 consists of…
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 control/interface modules to render a desired interaction performance…
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…