10 accepted papers
Among the many challenges of parallel kinematic manipulators, achieving high-speed and accurate control remains crucial. Estimating their dynamic properties is essential for designing precise and efficient control schemes. Conventional methods for dynamic model identification have been effective, th
High precision industrial applications call for equally precise functioning of industrial manipulators, which in turn requires accurate modeling of the manipulators. This paper carries out a detailed study on the modeling of industrial manipulators with elastic joints to improve their accuracy. In p…
Nowadays, robotic research focuses more and more on attaining energy-efficient and safe solutions. They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may o
Cable-driven joints proved to be an effective solution in a wide variety of applications ranging from medical to industrial fields where light structures, interaction with unstructured and constrained environments and precise motion are required. These requirements are achieved by moving the actuato…
Robotic arms can perform grasping actions thanks to their “dexteorus” part, i.e. the gripper. Among the various categories, nowadays pneumatic grippers became the most employed in industry, as they have low cost and little bulkiness. Despite their simplicity, controlling the force applied by these g…
This paper proposes a novel gripper or end-effector named VARO-fi (VARiable Orientable fingers with translation), with the aim of obtaining human like prehensile manoeuvre such as, in-hand manipulation. The 4 fingered VARO-fi consists of 9 degrees of freedom and it can perform several in-hand manipu…
Developing grasping devices with the capabilities to carry out dexterous tasks similar to human hand are being studied for many decades. To this aim, mathematical analysis such as control of multi-fingered gripper, grasp synthesis algorithms, contact types and their interactions have been explicitly…
Robotics in the last decades is moving towards bioinspired solutions in order to develop systems increasingly integrated with the human environment. Among them, legged robots fascinates more and more researchers thanks to their ability of moving in unstructured environment such as the ones typical o…
An increasing interest towards functionally independent and self-reconfigurable robots featured the research direction in the recent past. Such attention is well explained by the characteristics of flexibility and cost-effectiveness which distinguish these modular machines. This scenario framed the…