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Elenco Pubblicazioni - Publications (815)

Effective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the fingers be appropriately commanded. This, however, brings some design and control challenges regarding the…
This paper presents experimental findings on how humans modulate their muscle activity while grasping objects of varying levels of compliance. We hypothesize that one of the key abilities that allows humans to successfully cope with…
This paper describes a nonlinear complementary filter capable of estimating the course motion variables namely the position, velocity, heading and accelerometers bias of an agile, over-actuated AUV during underwater operations, using the inertial sensors (IMU),…
The proposed work is in the framework of the V-Fides project, in which is a general purpose, 3000m depth rated underwater vehicle with highly maneuverability capabilities was developed. The project was co-funded by Tuscany Region…
The adoption of fault detection and isolation (FDI) techniques is fundamental to ensure high levels of safety and productivity, especially in critical and expensive applications like Autonomous Underwater Vehicles (AUV). This paper describes a comparison…