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Chiara Talignani Landi

7 accepted papers

2020

A Control Barrier Function Approach for Maximizing Performance While Fulfilling to ISO/TS 15066 Regulations

Federica Ferraguti, Mattia Bertuletti, Chiara Talignani Landi, Marcello Bonfè, Cesare Fantuzzi, Cristian Secchi
RA-L 2020

ISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cells, where human and robot collaborate in order to fulfill a common job. Current approaches for implementing the ISO/TS 15066 guidelines lead to a conservative behavior (e.g. low velocity) of the robot an

Cited by 74Source ↗Scholar ↗
2019

Prediction of Human Arm Target for Robot Reaching Movements

Chiara Talignani Landi, Yujiao Cheng, Federica Ferraguti, Marcello Bonfè, Cristian Secchi, Masayoshi Tomizuka
IROS 2019poster

The raise of collaborative robotics has allowed to create new spaces where robots and humans work in proximity. Consequently, to predict human movements and his/her final intention becomes crucial to anticipate robot next move, preserving safety and increasing efficiency. In this paper we propose a…

Cited by 35Source ↗Scholar ↗
2018

A Passivity-Based Strategy for Coaching in Human-Robot Interaction

Chiara Talignani Landi, Federica Ferraguti, Cesare Fantuzzi, Cristian Secchi
ICRA 2018poster

In order to make robot programming more easy and immediate, walk-through programming techniques can be exploited. However, a modification of a portion of the trajectory usually means to execute the path from the beginning. In this paper we propose a passivity-based framework to modify the trajectory…

Cited by 28Source ↗Scholar ↗
2018

Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares

Saverio Farsoni, Chiara Talignani Landi, Federica Ferraguti, Cristian Secchi, Marcello Bonfè
ICRA 2018poster

The paper describes an estimation and identification procedure that allows to reconstruct the inertial parameters of a rigid load attached to the end-effector of an industrial manipulator. In particular, the proposed method adopts a multirate quaternion-based Kalman filter, fusing measurements obtai…

Cited by 24Source ↗Scholar ↗
2017

Admittance control parameter adaptation for physical human-robot interaction

Chiara Talignani Landi, Federica Ferraguti, Lorenzo Sabattini, Cristian Secchi, Cesare Fantuzzi
ICRA 2017poster

In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely used and the appropriate selection of the its parameters is cr…

Cited by 127Source ↗Scholar ↗
2017

Compensation of Load Dynamics for Admittance Controlled Interactive Industrial Robots Using a Quaternion-Based Kalman Filter

Saverio Farsoni, Chiara Talignani Landi, Federica Ferraguti, Cristian Secchi, Marcello Bonfè
RA-L 2017

The paper describes a control architecture for industrial robotic applications allowing human/robot interactions, using an admittance control scheme and direct sensing of the human inputs. The aim of the proposed scheme is to support the operator of an industrial robot, equipped with a force/torque

Cited by 48Source ↗Scholar ↗
2017

Variable admittance control preventing undesired oscillating behaviors in physical human-robot interaction

Chiara Talignani Landi, Federica Ferraguti, Lorenzo Sabattini, Cristian Secchi, Marcello Bonfè, Cesare Fantuzzi
IROS 2017poster

Admittance control is a widely used approach for guaranteeing a compliant behavior of the robot in physical human-robot interaction. When an admittance-controlled robot is coupled with a human, the dynamics of the human can cause deviations from the desired behavior of the robot, mainly due to a sti…

Cited by 52Source ↗Scholar ↗