01788nas a2200181 4500008003900000020002300039245007300062210007100135260004300206520121200249653001301461100001501474700001701489700001601506700001601522700001901538856004901557 2016 d a978-1-5090-4718-5 00aMotion Primitive Based Random Planning for Loco–Manipulation Tasks0 aMotion Primitive Based Random Planning for Loco–Manipulation Tas aCancun, Mexico, 15-17 Nov. 2016 bIEEE3 a

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–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–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–manipulation tasks.

10aRobotics1 aSettimi, A1 aCaporale, D.1 aKryczka, P.1 aFerrati, M.1 aPallottino, L. uhttp://ieeexplore.ieee.org/document/7803402/01790nas a2200181 4500008003900000245005400039210005400093260005000147300001600197520124300213653001301456100001601469700001401485700001501499700001401514700001901528856006101547 2016 d00aMulti–object handling for robotic manufacturing0 aMulti–object handling for robotic manufacturing aFlorence, Italy, October 24-27bIEEEc12/2016 a6887 - 68933 a

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–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–effectors with constraints and capabilities.
Time varying graphs will be introduced to model the problem for simultaneous handling of objects by different end–effectors.
Optimal exploration of such graphs will be used to determine paths for each object with time constraints. Results will be validated through simulations.

10aRobotics1 aFerrati, M.1 aMarino, H1 aSettimi, A1 aNardi, S.1 aPallottino, L. uhttp://ieeexplore.ieee.org/document/7793936/?reload=true02577nas a2200241 4500008003900000245009300039210006900132260004200201300001400243520183800257653001202095653001302107100001702120700001102137700001402148700001602162700001902178700001502197700002002212700001502232700002002247856006802267 2014 d00aManipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task0 aManipulation Framework for Compliant Humanoid COMAN Application  aMadrid, Spain, November 18 - 20bIEEE a664 - 6703 a

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'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.

10aHaptics10aRobotics1 aAjoudani, A.1 aLee, J1 aRocchi, A1 aFerrati, M.1 aHoffman, Mingo1 aSettimi, A1 aCaldwell, D. G.1 aBicchi, A.1 aTsagarakis, N G uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=704143400706nas a2200205 4500008003900000245009500039210006900134260002300203653001300226100001500239700001400254700001900268700001600287700001400303700001400317700001300331700002000344700001500364856012100379 2014 d00aA modular approach for remote operation of humanoid robots in search and rescue scenarios 0 amodular approach for remote operation of humanoid robots in sear aRome, 5-6 May 201410aRobotics1 aSettimi, A1 aPavan, C.1 aVarricchio, V.1 aFerrati, M.1 aMingo, E.1 aRocchi, A1 aMelo, K.1 aTsagarakis, N G1 aBicchi, A. uhttp://95.110.227.16/publications/modular-approach-remote-operation-humanoid-robots-search-and-rescue-scenarios.html