Foto 7

Elenco Pubblicazioni - Publications (1087)

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…
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…