Gianluca Lentini — accepted AI-conference papers

2020

An Integrated Dynamic Fall Protection and Recovery System for Two-Wheeled Humanoids

Grazia Zambella, Antonio Bicchi, Simone Monteleone, Edwin Paúl Herrera-Alarcón, Francesca Negrello, Gianluca Lentini +4

RA-L 2020

Robots face the eventuality of falling. Unplanned events, external disturbances and technical failures may lead a robot to a condition where even an effective dynamic stabilization is not sufficient to maintain the equilibrium. Therefore, it is essential to equip robotic platforms with both active a

Cited by 7 Source ↗Scholar ↗

2020

Robot Programming without Coding

Gianluca Lentini, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi

ICRA 2020poster

An approach toward intuitive and easy robot programming, consists to transfer skills from humans to machines, through demonstration. A vast literature exists on learning from multiple demonstrations. This paper, on the other hand, tackles the problem of providing all needed information to execute a…

Cited by 25 Source ↗Scholar ↗

2019

Dynamic Whole-Body Control of Unstable Wheeled Humanoid Robots

Grazia Zambella, Gianluca Lentini, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, Alessandro Palleschi +4

RA-L 2019

Control of two-wheeled humanoid robots poses several challenges due to the unstable dynamics of their mobile base and the coupling between the upper and lower body dynamics. The problem is often faced in the literature with methods based on the linearized or simplified models that fail in exploiting

Cited by 49 Source ↗Scholar ↗

2019

On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation

Janelle P. Clark, Gianluca Lentini, Federica Barontini, Manuel G. Catalano, Matteo Bianchi, Marcia K. O’Malley

ICRA 2019poster

Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding…

Cited by 44 Source ↗Scholar ↗