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Gianluca Antonelli

9 accepted papers

2022

Analysis of Hybrid Cable-Thruster actuated ROV in heavy lifting interventions

Nikolas Sacchi, Enrico Simetti, Gianluca Antonelli, Giovanni Indiveri, Vincent Creuze, Marc Gouttefarde
IROS 2022poster

Many operations performed by work class Remotely Operated Vehicles (ROVs) require the manipulation of heavy loads. An example is the manipulation and grouting of armour stones. A way to increase the working capabilities of the ROV is to introduce cables among the set of actuators. The cable lengths…

Cited by 3Source ↗Scholar ↗
2020

Experiments on whole-body control of a dual-arm mobile robot with the Set-Based Task-Priority Inverse Kinematics algorithm

Paolo Di Lillo, Francesco Pierri, Fabrizio Caccavale, Gianluca Antonelli
IROS 2020poster

In this paper an experimental study of set-based task-priority kinematic control for a dual-arm mobile robot is developed. The control strategy for the coordination of the two manipulators and the mobile base relies on the definition of a set of elementary tasks to be properly handled depending on t…

Cited by 4Source ↗Scholar ↗
2019

Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework

Paolo Di Lillo, Stefano Chiaverini, Gianluca Antonelli
ICRA 2019poster

Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be satisfied with a set/range of values can be addressed in a rig…

Cited by 19Source ↗Scholar ↗
2018

Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortés, Antonio Franchi
RA-L 2018

This letter presents a new method to address the problem of task-constrained motion planning for aerial manipulators. We propose a control-aware planner based on the paradigm of tight coupling between planning and control. Such paradigm is especially useful in aerial manipulation, where the separati

Cited by 47Source ↗Scholar ↗
2018

Safety-Related Tasks Within the Set-Based Task-Priority Inverse Kinematics Framework

Paolo Di Lillo, Filippo Arrichiello, Gianluca Antonelli, Stefano Chiaverini
IROS 2018poster

In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that allows the manipulator's motion while respecting constraints def…

Cited by 17Source ↗Scholar ↗
2018

Satellite-Based Tele-Operation of an Underwater Vehicle-Manipulator System. Preliminary Experimental Results

Paolo Di Lillo, Daniele Di Vito, Enrico Simetti, Giuseppe Casalino, Gianluca Antonelli
ICRA 2018poster

Within the European project DexROV the topic of underwater intervention is addressed. In particular, a remote control room is connected through a satellite communication link to surface vessel, which is in turn connected to an UVMS (Underwater Vehicle-Manipulator System) with an umbilical cable. The…

Cited by 14Source ↗Scholar ↗
2017

6D physical interaction with a fully actuated aerial robot

Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale +1
ICRA 2017poster

This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geome…

Cited by 214Source ↗Scholar ↗
2017

Assistive robot operated via P300-based brain computer interface

Filippo Arrichiello, Paolo Di Lillo, Daniele Di Vito, Gianluca Antonelli, Stefano Chiaverini
ICRA 2017poster

In this paper we present an architecture for the operation of an assistive robot finally aimed at allowing users with severe motion disabilities to perform manipulation tasks that may help in daily-life operations. The robotic system, based on a lightweight robot manipulator, receives high level com…

Cited by 58Source ↗Scholar ↗
2016

Experiments on coordinated motion of aerial robotic manipulators

Giuseppe Muscio, Francesco Pierri, Miguel Angel Trujillo, Elisabetta Cataldi, Gerardo Giglio, Gianluca Antonelli +4
ICRA 2016

In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in o

Cited by 28Source ↗Scholar ↗