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Elenco Pubblicazioni - Publications (1080)

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…
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 developed…
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…
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 communication channel (e.g.…