5 accepted papers
The field of soft robotics is grounded on the idea that, due to their inherent compliance, soft robots can safely interact with the environment. Thus, the development of effective planning and control pipelines for soft robots should incorporate reliable robot-environment interaction models. This st…
Robot teleoperation is widely used for several hazardous applications. To increase teleoperator capabilities shared-control methods can be employed. In this paper, we present a passive task-prioritized shared-control method for remote telemanipulation of redundant robots. The proposed method fuses t…
Minimally invasive robotic surgery holds a fundamental role in modern surgery. However, one of its major limitations compared to classic laparoscopy is that the surgeon can only rely on visual perception, for the lack of haptic force feedback. A new solution for a force sensor placed at the end-tip…
The da Vinci Research Kit (DVRK) is a telerobotic surgical research platform endowed with an open controller that allows position, velocity and current control. We consider the problem of modelling and identification of both the Patient Side Manipulators (PSMs) and of the Master Tool Manipulators (M…
A multilayer architecture to control multirotor UAVs equipped with a servo robot arm is proposed in this paper. The main purpose is to control the aerial platform taking into account the presence of the moving manipulator. Three layers are considered in this work. First, a novel mechanism is propose…