Alessandro De Toni — accepted AI-conference papers

2026

Handling Transitions Across Singularities for UR-Like Serial Robots

Ivan Boschi, Alessandro De Toni, Roberto Di Leva, Edoardo Idà, Marco Carricato

RA-L 2026

The inverse kinematics (IK) of serial robots admits multiple solutions, making the selection of the desired one potentially challenging depending on the application at hand. For robots with a non-cuspidal architecture, a suitable strategy is to partition the joint space into independent regions, kno

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2026

Handling Transitions across Singularities for UR-Like Serial Robots

Ivan Boschi, Alessandro De Toni, Roberto Di Leva, Edoardo Ida', Marco Carricato

ICRA 2026poster

The inverse kinematics (IK) of serial manipulators admits multiple solutions, making the selection of the desired one potentially challenging depending on the application at hand. For robots with a non-cuspidal architecture, a suitable strategy is to partition the joint space into independent region…

Cited by 0 Source ↗Scholar ↗