@conference {3748, title = {An Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test}, booktitle = {IEEE International Conference on Rehabilitation Robotics (ICORR)}, year = {2019}, doi = {10.1109/ICORR.2019.8779550}, author = {C. M. Kanzler and M. G. Catalano and C. Piazza and A. Bicchi and R. Gassert and O. Lambercy} } @conference {3157, title = {Online Model Based Estimation of Complete Joint Stiffness of Human Arm}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2017)}, year = {2017}, address = {Vancouver, Canada, September 24{\textendash}28, 2017}, keywords = {Robotics}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @article {3138, title = {Online Model Based Estimation of Complete Joint Stiffness of Human Arm}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2017}, month = {01/2018}, pages = {84 - 91}, abstract = {

The endpoint stiffness of the human arm has been long recognized as a key component ensuring the quasi-static stability of the arm physical interactions with the external world. Similarly, the understanding of the joint stiffness behavior can provide complementary insights, e.g., on the underlying stiffness regulation principles across different joints including the nullspace stiffness profiles. Traditionally, the experimental modeling and estimation of the human arm joint stiffness is achieved by the transformation of the identified arm endpoint stiffness to the joint coordinates. Due to the underlying kinematic redundancy, the obtained joint stiffness matrix is rank-deficient which implies that the information in the joint stiffness matrix is incomplete. While in robotics applications this issue can be addressed by designing a desired nullspace stiffness behavior through appropriate projections, the use of a similar technique in the identification of human joint stiffness profile is meaningless. Hence, the first objective of this work is to address this issue by developing a novel technique to identify the complete and physiologically meaningful joint stiffness of human arm. Second, we present a model-based online estimation technique to estimate the seven-dimensional complete joint stiffness in various arm poses and activation levels of the two dominant arm muscles that correspond to the geometric and volume modifications of the joint stiffness profile, respectively.

}, keywords = {Haptics, Robotics}, doi = {10.1109/LRA.2017.2731524}, url = {http://ieeexplore.ieee.org/document/7990237/}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @conference {2337, title = {Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {5675 - 5681}, address = {Seattle, USA, 25 - 30 May}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2015.7139994}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @conference {2151, title = {Open Source VSA-CubeBots for Rapid Soft Robot Prototyping }, booktitle = { Robot Makers - Workshop in conjunction with 2014 Robotics Science and Systems}, year = {2014}, address = { July 12, 2014, Berkeley, California }, keywords = {Robotics}, author = {K. Melo and M. Garabini and G. Grioli and M. G. Catalano and L. Malagia and A. Bicchi} } @conference {1437, title = {Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2477 - 2484}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630914 }, author = {R. Incaini and L. Sestini and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {1447, title = {Optimal Control for Maximizing Velocity of the CompActTM Compliant Actuator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {516 - 522}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630623}, author = {L. Chen and M. Garabini and M. Laffranchi and N. Kashiri and N G Tsagarakis and A. Bicchi and D. G. Caldwell} } @conference {GBSPB12, title = {Optimality Principles in Stiffness Control: The VSA Kick}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3341 - 3346 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @booklet {11, title = {Optimal synthesis for nonholonomic vehicles with constrained side sensors}, year = {2011}, note = {

Technical Report

}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and A. Bicchi} } @conference {GPBSB11, title = {Optimality Principles in Variable Stiffness Control: the VSA Hammer}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {3770 - 3775}, address = {S. Francisco, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {FMEBG, title = {Observability and Controllability Detection of Multi-Agent Systems through Decentralized Laplacian Spectrum Estimation}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, pages = {5775 - 5780}, keywords = {Embedded Control, Robotics}, author = {M. Franceschelli and S. Martini and M. Egerstedt and A. Bicchi and A. Giua} } @conference {SBFGB08, title = {Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking}, booktitle = {IROS}, year = {2008}, month = {22-26 Sept}, pages = {1673-1680}, abstract = {

This paper presents a correct solution to the optimal feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.

}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and L. Greco and A. Bicchi} } @inbook {ISER04, title = {Optimal Mechanical/Control Design for Safe and Fast Robotics}, booktitle = {Experimental Robotics IX: The 9th International Symposium on Experimental Robotics}, series = {Springer Tracts in Advanced Robotics}, volume = {21}, year = {2006}, pages = {311 - 320}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

The problem to ensure safety of performant robot arms during task execution was previously investigated by authors. The problem can be approached by studying an optimal control policy, the "Safe Brachistocrone", whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum-time task execution for the robot, while guaranteeing an intrinsic safety level in case of an unexpected collision between a link of the arm and a human operator. In this paper we extend this approach to more general classes of robot actuation systems, whereby other impedance parameters beside stiffness (such as e.g. joint damping and/or plasticity) can vary. We report on a rather extensive experimental campaign validating the proposed approach.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi}, editor = {Marcelo H. Ang, Oussama Khatib} } @inbook {BSSTB06, title = {Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI}, booktitle = {European Robotics Symposium 2006}, series = {Springer Tracts in Advanced Robotics}, volume = {22}, year = {2006}, pages = {109 - 118}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Boccadamo and R. Schiavi and S. Sen and G. Tonietti and A. Bicchi}, editor = {H. Christensen} } @article {pietrini2005ois, title = {Oltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale}, journal = {Neurological Sciences}, volume = {26}, year = {2005}, pages = {S81{\textendash}S83}, keywords = {Haptics}, author = {P. Pietrini and E. Ricciardi and C. Gentili and D. Bonino and N. Vanello and L. Sani and S. Danti and M. Guazzelli and A. Bicchi and TE Vecchi} } @article {BCPT03, title = {On-line Robotic Experiments for Tele-Education at the University of Pisa}, journal = {Int. Journal of Robotic Systems}, volume = {22}, number = {4}, year = {2005}, note = {

Special Issue on Internet \& Online Robots for Telemanipulation

}, pages = {217-230}, abstract = {

In this paper we describe work being done at our department to make the Robotics Laboratory accessible to student and colleagues, to execute and watch real-time experiments at any time and from anywhere. We describe few different installations, and highlight the underlying philosophy, wich is aimed at enlarging the lab in all the dimensions of space, time, and available resources, through the use of Internet technologies.

}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and L. Pallottino and G. Tonietti} } @conference {SRPB-05, title = {Optic and tactile flow: does a supramodal response exist?}, booktitle = {International multisensory research forum, 6th Annual meeting}, year = {2005}, month = {June}, address = {Rovereto, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and E. Ricciardi and P. Pietrini and A. Bicchi} } @inbook {PLPB02, title = {Optimal control of quantized input systems}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2289}, year = {2002}, pages = {351-363}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, abstract = {

In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Leonardi and L. Pallottino and A. Bicchi}, editor = {C. Tomlin and M. Greenstreet} } @conference {PPB02, title = {On Optimal Steering of Quantized Input Systems}, booktitle = {Proceedings of the NSF/ONR Workshop on Future Directions in Nonlinear Control of Mechanical Systems}, year = {2002}, address = {Urbana, IL.}, abstract = {

In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Pallottino and A. Bicchi} } @conference {LMB01, title = {Optimal exploratory paths for a mobile rover}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2001}, pages = {2078-2083}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {F. Lorussi and A. Marigo and A. Bicchi} } @article {SBB01, title = {Optimal feedback control for line tracking with a bounded-curvature vehicle}, journal = {Int. Journal of Control}, volume = {74}, number = {10}, year = {2001}, month = {July}, pages = {1009-1019}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} } @conference {CBB00, title = {Observability and nonlinear observers for mobile robot localization}, booktitle = {IFAC Int. Symp. on Robot Control, SyRoCo 2000}, year = {2000}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {F. Conticelli and A. Bicchi and A. Balestrino} } @inbook {CB00, title = {Observer Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy}, booktitle = {Nonlinear Control in the Year 2000}, series = {LNCIS}, volume = {258}, year = {2000}, pages = {315-330}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Localization and Mapping, Nonlinear Control Systems}, author = {F. Conticelli and A. Bicchi}, editor = {A. Isidori and F. F. Lamnabhi-Lagarrigue and W. Respondek} } @conference {PB00, title = {On the optimal conflict resolution for air traffic control}, booktitle = {Proc. IEEE Intelligent Transportation Systems}, year = {2000}, pages = {167-172}, address = {Dearborn, MI}, abstract = {

In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with velocity constraints and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a simplified aircraft conflict scenario are provided.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {L. Pallottino and A. Bicchi} } @article {BP00-TITS, title = {On optimal cooperative conflict resolution for air traffic management systems}, journal = {IEEE Trans. Intelligent Transportation Systems}, volume = {1}, number = {4}, year = {2000}, month = {December}, pages = {221-231}, abstract = {

In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with constant velocity and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a realistic aircraft conflict scenario are provided. A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is finally discussed with the help of extensive simulations.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and L. Pallottino} } @conference {SBB00, title = {Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, month = {April}, pages = {2473-2478}, address = {San Francisco, CA, USA}, keywords = {Robotics}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} } @inbook {BP00-WAFR, title = {Optimal planning for coordinated vehicles with bounded curvature}, booktitle = {Algorithmic and Computational Robotics: New Directions}, volume = {1}, year = {2000}, note = {

The Workshop on Algorithmic Foundations of Robotics

}, pages = {167-172}, publisher = {A K Peters, MA}, organization = {A K Peters, MA}, abstract = {

In this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and L. Pallottino}, editor = {B. Donald and K. Lynch and D. Rus} } @conference {BCP99, title = {Optimal Design of Dynamic Multiaxis Force/Torque Sensors}, booktitle = {Proc. IEEE Int. Conference on Decision and Control}, year = {1999}, pages = {2981-2986}, abstract = {The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @conference {BPMB98, title = {On the observability of mobile vehicles localization}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, abstract = {

In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non{\textendash}observable, while results obtained from differential{\textendash}geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.

}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {A. Bicchi and D Prattichizzo and A. Marigo and A. Balestrino} } @conference {BPA98, title = {Optimization of Internal Forces in Force-Closure Grasps}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo and G. Antognetti} } @conference {BCP97, title = {Optimal Design of Dynamic Force/Torque Sensors}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @article {BC94, title = {Optimal Design of Multivariate Sensors}, journal = {Measurement Science and Technology (Institute of Physics Journal {\textquoteleft}{\textquoteleft}E{\textquoteright}{\textquoteright})}, volume = {5}, year = {1994}, pages = {319-332}, keywords = {Robot Hands, Sensors}, author = {A. Bicchi and G. Canepa} } @conference {B92-ACC, title = {Optimal Control of Robotic Grasping}, booktitle = {Proc. American Control Conference}, year = {1992}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi} }