13 accepted papers
Reduction gearboxes play a key role in robotics actuation. Among the existing designs, cycloidal gears are gaining popularity for their efficiency, torque density, and robustness. The compact-cam architecture is a variant of the classical cycloidal drive that employs two rigidly coupled cycloidal di…
Object pose estimation using visual data is crucial for robotic interaction with the environment. Many existing instance-level methods are restricted by their requirements for 3D CAD models or multiple object views, which limits their flexibility and generalizability. Overcoming this limitation is c…
Object pose estimation using visual data is crucial for robotic interaction with the environment. Many existing instance-level methods are restricted by their requirements for 3D CAD models or multiple object views, which limits their flexibility and generalizability. Overcoming this limitation is c
Choosing a good grasp is fundamental for accomplishing robotic grasping and manipulation tasks. Typically, the grasp synthesis is addressed separately from the planning phase, which can lead to failures during the execution of the task. In addition, most of the current grasping approaches privilege
Lower Limb Exoskeletons (LLEs) are wearable robotic systems that provide mechanical power to the user. Human-exoskeleton (HE) connections must guarantee the subsistence of the user’s natural behavior during the interaction, avoiding the exertion of undesired forces, i.e., the robot must be transpare…
Estimating the pose of objects through vision is essential to make robotic platforms interact with the environment. Yet, it presents many challenges, often related to the lack of flexibility and generalizability of state-of-the-art solutions. Diffusion models are a cutting-edge neural architecture t
Haptic interaction often requires stabilizing controllers for safety. The Time-Domain Passivity Approach guarantees passivity (then stability) by observing and dissipating energy generated from active elements in a network. The dissipating action is performed by a Passivity Controller, whose action…
The proposed work presents a framework based on Graph Neural Networks (GNN) that abstracts the task to be executed and directly allows the robot to learn task-specific rules from synthetic demonstrations given through imitation learning. A graph representation of the state space is considered to enc
Object detection and pose estimation are strict requirements for many robotic grasping and manipulation applications to endow robots with the ability to grasp objects with different properties in cluttered scenes and with various lighting conditions. This work proposes the framework <italic xmlns:mm
The present letter tackles the problem of planning a collision-free path in a known environment from a general point of view. We address the problem by using an unsupervised learning algorithm to generate a sparse graph representing the topological structure of the environment and use it for plannin
The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permane
This letter presents a novel wearable haptic controller (WHC) system suitable for teleoperation of demolition machines and robotic platforms. With regard to existing operator controller unit composed by passive joysticks, the WHC has been designed to provide force feedback to the user, hence improvi
The shortage of physicians afflicting developed countries encourages engineers and doctors to collaborate towards the development of telemedicine. In particular, robotic systems have the potential for helping doctors making examination. A very common examination that can be the goal of a robotic sys…