2024
Fast Payload Calibration for Sensorless Contact Estimation Using Model Pre-Training.
IEEE Robotics Autom. Lett., October, 2024
Fine Robotic Manipulation Without Force/Torque Sensor.
IEEE Robotics Autom. Lett., February, 2024
Automatic Fingerpad Customization for Precise and Stable Grasping of 3D-Print Parts.
CoRR, 2024
Stable modular control via contraction theory for reinforcement learning.
Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024
Sensorless Estimation of Contact Using Deep-Learning for Human-Robot Interaction.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Planning Optimal Trajectories for Mobile Manipulators under End-effector Trajectory Continuity Constraint.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Real-time Batched Distance Computation for Time-Optimal Safe Path Tracking.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
2023
Geometry-Aware Coverage Path Planning for Depowdering on Complex 3D Surfaces.
IEEE Robotics Autom. Lett., September, 2023
Grasping, Part Identification, and Pose Refinement in One Shot with a Tactile Gripper.
CoRR, 2023
Dynamic Manipulation of a Deformable Linear Object: Simulation and Learning.
CoRR, 2023
Sensorless Physical Human-robot Interaction Using Deep-Learning.
CoRR, 2023
Reinforcement Learning with Parameterized Manipulation Primitives for Robotic Assembly.
CoRR, 2023
Geometry-Aware Coverage Path Planning on Complex 3D Surfaces.
CoRR, 2023
Contact Reduction with Bounded Stiffness for Robust Sim-to-Real Transfer of Robot Assembly.
IROS, 2023
Time-Optimal Control via Heaviside Step-Function Approximation.
IROS, 2023
Monte-Carlo Tree Search with Prioritized Node Expansion for Multi-Goal Task Planning.
IROS, 2023
Time-Optimal Path Tracking with ISO Safety Guarantees.
IROS, 2023
Task-Space Clustering for Mobile Manipulator Task Sequencing.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
2022
Stability Guarantees for Continuous RL Control.
CoRR, 2022
Realtime Trajectory Smoothing with Neural Nets.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
DFBVS: Deep Feature-Based Visual Servo.
Proceedings of the 18th IEEE International Conference on Automation Science and Engineering, 2022
2021
Development of a Robotic System for Automatic Organic Chemistry Synthesis.
IEEE Trans Autom. Sci. Eng., 2021
Learning Sequences of Manipulation Primitives for Robotic Assembly.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
2020
Convex Controller Synthesis for Robot Contact.
IEEE Robotics Autom. Lett., 2020
MoboTSP: Solving the Task Sequencing Problem for Mobile Manipulators.
CoRR, 2020
Robotic Assembly across Multiple Contact Stiffnesses with Robust Force Controllers.
CoRR, 2020
Development of a Robotic System for Automated Decaking of 3D-Printed Parts.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
2019
SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints.
IEEE Trans Autom. Sci. Eng., 2019
Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments - A Case Study.
Sensors, 2019
Planning coordinated motions for tethered planar mobile robots.
Robotics Auton. Syst., 2019
Convex Controller Synthesis for Contact.
CoRR, 2019
SCALAR: Simultaneous Calibration of 2D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints.
CoRR, 2019
Locating Transparent Objects to Millimetre Accuracy.
CoRR, 2019
A probabilistic framework for tracking uncertainties in robotic manipulation.
CoRR, 2019
Siamese Convolutional Neural Network for Sub-millimeter-accurate Camera Pose Estimation and Visual Servoing.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
Printing-while-moving: a new paradigm for large-scale robotic 3D Printing.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
Critically fast pick-and-place with suction cups.
Proceedings of the International Conference on Robotics and Automation, 2019
2018
A New Approach to Time-Optimal Path Parameterization Based on Reachability Analysis.
IEEE Trans. Robotics, 2018
Robotic Manipulation of a Rotating Chain.
IEEE Trans. Robotics, 2018
On the Covariance of X in AX = XB.
IEEE Trans. Robotics, 2018
A Certified-Complete Bimanual Manipulation Planner.
IEEE Trans Autom. Sci. Eng., 2018
Can robots assemble an IKEA chair?
Sci. Robotics, 2018
3D Convolution on RGB-D Point Clouds for Accurate Model-free Object Pose Estimation.
CoRR, 2018
SCALAR - Simultaneous Calibration of 2D Laser and Robot's Kinematic Parameters Using Three Planar Constraints.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
RoboTSP - A Fast Solution to the Robotic Task Sequencing Problem.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Time-Optimal Path Tracking via Reachability Analysis.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Departure and Conflict Management in Multi-Robot Path Coordination.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018
Making Industrial Robots Smarter with Adaptive Reasoning and Autonomous Thinking for Real-Time Tasks in Dynamic Environments: A Case Study.
Proceedings of the Advances in Brain Inspired Cognitive Systems, 2018
2017
ZMP Support Areas for Multicontact Mobility Under Frictional Constraints.
IEEE Trans. Robotics, 2017
Completeness of randomized kinodynamic planners with state-based steering.
Robotics Auton. Syst., 2017
Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems.
IEEE Robotics Autom. Lett., 2017
Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots.
Int. J. Robotics Res., 2017
Touch-based object localization in cluttered environments.
CoRR, 2017
Time-Optimal Path Tracking: Online Scaling with Guarantees.
CoRR, 2017
On the structure of the time-optimal path parameterization problem with third-order constraints.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017
2016
A Single-Query Manipulation Planner.
IEEE Robotics Autom. Lett., 2016
On the Structure of the Time-Optimal Path Parameterization Problem with Third-Order Constraints.
CoRR, 2016
Robotic manipulation of a rotating chain.
CoRR, 2016
Time-optimal parabolic interpolation with velocity, acceleration, and minimum-switch-time constraints.
Adv. Robotics, 2016
A framework for fine robotic assembly.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016
2015
A New Trajectory Deformation Algorithm Based on Affine Transformations.
IEEE Trans. Robotics, 2015
ZMP support areas for multi-contact mobility under frictional constraints.
CoRR, 2015
Leveraging Cone Double Description for Multi-contact Stability of Humanoids with Applications to Statics and Dynamics.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015
Robotic manipulation of micro/nanoparticles using optical tweezers with velocity constraints and stochastic perturbations.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
Stability of surface contacts for humanoid robots: Closed-form formulae of the Contact Wrench Cone for rectangular support areas.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015
2014
A General, Fast, and Robust Implementation of the Time-Optimal Path Parameterization Algorithm.
IEEE Trans. Robotics, 2014
Planning Truly Dynamic Motions: Path-Velocity Decomposition Revisited.
CoRR, 2014
Dynamic non-prehensile object transportation.
Proceedings of the 13th International Conference on Control Automation Robotics & Vision, 2014
2013
Kinodynamic Planning in the Configuration Space via Admissible Velocity Propagation.
Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013
Characterizing and addressing dynamic singularities in the time-optimal path parameterization algorithm.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013
2012
On the structural identifiability of joint parameters from motion capture data.
Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, 2012
Affine trajectory deformation for redundant manipulators.
Proceedings of the Robotics: Science and Systems VIII, 2012
Regularity properties and deformation of wheeled robots trajectories.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Time-optimal Path Parameterization for critically dynamic motions of humanoid robots.
Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012
2011
Affine trajectory correction for nonholonomic mobile robots
CoRR, 2011
Fast Trajectory Correction for Nonholonomic Mobile Robots using Affine Transformations.
Proceedings of the Robotics: Science and Systems VII, 2011
2010
How Synchronization Protects from Noise.
PLoS Comput. Biol., 2010
2009
A Contraction Theory Approach to Stochastic Incremental Stability.
IEEE Trans. Autom. Control., 2009
2008
Where neuroscience and dynamic system theory meet autonomous robotics: A contracting basal ganglia model for action selection.
Neural Networks, 2008
Analysis of discrete and hybrid stochastic systems by nonlinear contraction theory.
Proceedings of the 10th International Conference on Control, 2008
2007
Stable concurrent synchronization in dynamic system networks.
Neural Networks, 2007
The Words of the Human Locomotion.
Proceedings of the Robotics Research - The 13th International Symposium, 2007