@conference {2893, title = {Motion Primitive Based Random Planning for Loco{\textendash}Manipulation Tasks}, booktitle = {IEEE International Conference on Humanoid Robots (HUMANOIDS 2016)}, year = {2016}, note = {
This work is supported by the European commission project Walk-Man EU FP7-ICT no. 611832 and the ECs Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727 (CogIMon)
}, publisher = {IEEE}, organization = {IEEE}, address = {Cancun, Mexico, 15-17 Nov. 2016 }, abstract = {

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco{\textendash}manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole{\textendash}body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco{\textendash}manipulation tasks.

}, keywords = {Robotics}, isbn = {978-1-5090-4718-5 }, doi = {10.1109/HUMANOIDS.2016.7803402}, url = {http://ieeexplore.ieee.org/document/7803402/}, author = {A Settimi and D. Caporale and P. Kryczka and M. Ferrati and L. Pallottino} } @conference {2810, title = {Multi{\textendash}object handling for robotic manufacturing}, booktitle = {IECON 2016: 42nd Annual Conference of the IEEE Industrial Electronics Society}, year = {2016}, month = {12/2016}, pages = {6887 - 6893}, publisher = {IEEE}, organization = {IEEE}, address = {Florence, Italy, October 24-27}, abstract = {

The purpose of this work is to move a step toward the automation of industrial plants through full exploitation of autonomous robots. A planning algorithm is proposed to move different objects in desired configurations with heterogeneous robots such as manipulators, mobile robots and conveyor belts.
The proposed approach allows different objects to be handled by different robots simultaneously in an efficient way and avoiding collisions with the environment and self{\textendash}collisions between robots. In particular, the integrated system will be capable of planning paths for a set of objects from various starting points in the environment (e.g. shelves) to their respective final destinations. The proposed approach unifies the active (e.g., grasping by a hand) and passive (e.g., holding by a table) steps involved in moving the objects in the environment by treating them as end{\textendash}effectors with constraints and capabilities.
Time varying graphs will be introduced to model the problem for simultaneous handling of objects by different end{\textendash}effectors.
Optimal exploration of such graphs will be used to determine paths for each object with time constraints. Results will be validated through simulations.

}, keywords = {Robotics}, doi = {http://ieeexplore.ieee.org/document/7793936/?reload=true}, url = {http://ieeexplore.ieee.org/document/7793936/?reload=true}, author = {M. Ferrati and H. Marino and A Settimi and S. Nardi and L. Pallottino} } @conference {2159, title = {Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {664 - 670}, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, abstract = {

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 various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve{\textquoteright}s friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041434}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7041434}, author = {A. Ajoudani and J. Lee and A. Rocchi and M. Ferrati and E. Mingo Hoffman and A Settimi and D. G. Caldwell and A. Bicchi and N G Tsagarakis} } @conference {2127, title = {A modular approach for remote operation of humanoid robots in search and rescue scenarios }, booktitle = {Modelling \& Simulation for Autonomous Systems - MESAS2014}, year = {2014}, address = {Rome, 5-6 May 2014}, keywords = {Robotics}, author = {A Settimi and C. Pavan and V. Varricchio and M. Ferrati and E. Mingo and A. Rocchi and K. Melo and N G Tsagarakis and A. Bicchi} }