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Fernando Caponetto

3 accepted papers

2021

A Workspace Limit Approach for Teleoperation Based on Signed Distance Function

Gaofeng Li, Fernando Caponetto, Edoardo Del Bianco, Vasiliki Katsageorgiou, Ioannis Sarakoglou, Nikos G. Tsagarakis
RA-L 2021

The workspace limit to smoothly map unreachable motions sensed in the leader side$^1$ to the reachable workspace of the follower robot is fundamental for teleoperation systems. Although numerous workspace determination methods have been studied, the workspace limit approach still remains challenging

Cited by 6Source ↗Scholar ↗
2020

A Novel Orientability Index and the Kinematic Design of the RemoT-ARM: A Haptic Master with Large and Dexterous Workspace

Gaofeng Li, Edoardo Del Bianco, Fernando Caponetto, Vasiliki Katsageorgiou, Nikos G. Tsagarakis, Ioannis Sarakoglou
ICRA 2020poster

Orientability is an important performance index to evaluate the dexterity of haptic master devices. Currently, most of the existing haptic master devices have limited workspace and limited dexterity. In this paper, we present the RemoT-ARM, a 6 Degree-of-Freedom (DOF) haptic master device that can p…

Cited by 5Source ↗Scholar ↗
2020

Incomplete Orientation Mapping for Teleoperation With One DoF Master-Slave Asymmetry

Gaofeng Li, Fernando Caponetto, Edoardo Del Bianco, Vasiliki Katsageorgiou, Ioannis Sarakoglou, Nikos G. Tsagarakis
RA-L 2020

Teleoperation systems require a human-centered approach in which the kinematic mapping is intuitive and straightforward for the operators. However, a mismatch in the degrees-of-freedom (DoFs) between master and slave could result in an asymmetrical teleoperation system. That is an obstacle for intui

Cited by 15Source ↗Scholar ↗