AIConfPaper
← Search

Andrea Monguzzi

6 accepted papers

2026

DynDLO: Learning-Based Trajectory Planning for Dynamic Robotic Manipulation of Deformable Linear Objects

Daniele Maria Liuni, Alessandro Bartesaghi, Andrea Monguzzi, Alessandra Miuccio, Andrea Maria Zanchettin, Paolo Rocco
ICRA 2026poster

The automatic manipulation of Deformable Linear Objects (DLOs) remains currently a challenge in robotics. Previous research on robotic DLOs manipulation has primarily addressed quasi-static DLO manipulation at low speeds, leaving the potential of dynamic DLO manipulation largely unexplored. This pap…

Cited by 0Scholar ↗
2026

Reactive Whole-Body Control of Mobile Manipulators for Dynamic Target Tracking Via Adaptive-Predictive Visual Servoing

Andrea Monguzzi, Giuseppe Alfonso, Navvab Kashiri
ICRA 2026poster

This paper addresses the challenging problem of enabling a mobile manipulator with an eye-in-hand camera to track dynamic targets with time-varying positions and orientations in an unbounded workspace. Specifically, we propose an optimization-based whole-body control framework for dynamic target tra…

Cited by 0Scholar ↗
2024

Force-based semantic representation and estimation of feature points for robotic cable manipulation with environmental contacts

Andrea Monguzzi, Yiannis Karayiannidis, Paolo Rocco, Andrea Maria Zanchettin
ICRA 2024poster

This work demonstrates the utility of dual-arm robots with dual-wrist force-torque sensors in manipulating a Deformable Linear Object (DLO) within an unknown environment that imposes constraints on the DLO’s movement through contacts and fixtures. We propose a strategy to estimate the pose of unknow…

Cited by 0Source ↗Scholar ↗
2024

Potential Field-Based Online Path Planning for Robust Cable Routing

Andrea Monguzzi, Niccolò Mantegna, Andrea Maria Zanchettin, Paolo Rocco
IROS 2024poster

This paper tackles the complex task of routing elastic deformable linear objects (DLOs) characterized by considerable stiffness, such as cables or hoses, which are already constrained at both ends. Specifically, a single arm robot is controlled to slide along the unknown contour of the cable, perfor…

Cited by 0Source ↗Scholar ↗
2023

Tactile based robotic skills for cable routing operations

Andrea Monguzzi, Martina Pelosi, Andrea Maria Zanchettin, Paolo Rocco
ICRA 2023poster

This paper proposes a set of tactile based skills to perform robotic cable routing operations for deformable linear objects (DLOs) characterized by considerable stiffness and constrained at both ends. In particular, tactile data are exploited to reconstruct the shape of the grasped portion of the DL…

Cited by 8Source ↗Scholar ↗
2023

Vision-Based State and Pose Estimation for Robotic Bin Picking of Cables

Andrea Monguzzi, Christian Cella, Andrea Maria Zanchettin, Paolo Rocco
IROS 2023poster

This paper deals with the challenging task of picking semi-deformable linear objects (SDLOs) from a bin. SDLOs are deformable elements, such as cables, joined to a rigid part as a connector. We propose a vision-based strategy to detect, classify and estimate the pose and the state (free or occluded)…

Cited by 3Source ↗Scholar ↗