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Giuseppe Andrea Fontanelli

8 accepted papers

2020

A Flexible Robotic Depalletizing System for Supermarket Logistics

Riccardo Caccavale, Pierluigi Arpenti, Gianmarco Paduano, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Luigi Villani +1
RA-L 2020

Depalletizing robotic systems are commonly deployed to automatize and speed-up parts of logistic processes. Despite this, the necessity to adapt the preexisting logistic processes to the automatic systems often impairs the application of such robotic solutions to small business realities like superm

Cited by 19Source ↗Scholar ↗
2020

A Reconfigurable Gripper for Robotic Autonomous Depalletizing in Supermarket Logistics

Giuseppe Andrea Fontanelli, Gianmarco Paduano, Riccardo Caccavale, Pierluigi Arpenti, Vincenzo Lippiello, Luigi Villani +1
RA-L 2020

Automatic depalletizing is becoming a practice widely applied in warehouses to automatize and speed-up logistics. On the other hand, the necessity to adapt the preexisting logistic lines to a custom automatic system can be a limit for the application of robotic solutions into smaller facilities like

Cited by 20Source ↗Scholar ↗
2020

RGB-D Recognition and Localization of Cases for Robotic Depalletizing in Supermarkets

Pierluigi Arpenti, Riccardo Caccavale, Gianmarco Paduano, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Luigi Villani +1
RA-L 2020

Integrating a robotic system into the depalletizing process of a supermarket demands a high level of autonomy, based on strong perceptive capabilities. This letter presents a system for detection, recognition, and localization of heterogeneous cases in a depalletizing robotic cell, using a single RG

Cited by 30Source ↗Scholar ↗
2019

Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

Suping Zhao, Fabio Ruggiero, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Zhanxia Zhu, Bruno Siciliano
RA-L 2019

This letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging application in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is des

Cited by 11Source ↗Scholar ↗
2018

A New Laparoscopic Tool With In-Hand Rolling Capabilities for Needle Reorientation

Giuseppe Andrea Fontanelli, Mario Selvaggio, Luca Rosario Buonocore, Fanny Ficuciello, Luigi Villani, Bruno Siciliano
RA-L 2018

In laparoscopic minimally invasive robotic surgery, a teleoperated robot is interposed between the patient and the surgeon. Despite the robot aid, the manipulation capabilities of surgical instruments are far from those of the human hand. In this letter, we want to make a step forward toward robotic

Cited by 23Source ↗Scholar ↗
2018

Image-Based Visual-Impedance Control of a Dual-Arm Aerial Manipulator

Vincenzo Lippiello, Giuseppe Andrea Fontanelli, Fabio Ruggiero
RA-L 2018

Three new image-based visual-impedance control laws are proposed in this letter allowing physical interaction of a dual-arm unmanned aerial manipulator equipped with a camera and a force/torque sensor. Namely, two first-order impedance behaviors are designed based on the transpose and the inverse of

Cited by 80Source ↗Scholar ↗
2018

Passive Virtual Fixtures Adaptation in Minimally Invasive Robotic Surgery

Mario Selvaggio, Giuseppe Andrea Fontanelli, Fanny Ficuciello, Luigi Villani, Bruno Siciliano
RA-L 2018

During robot-aided surgical interventions, the surgeon can be benefitted from the application of virtual fixtures (VFs). Though very effective, this technique is very often not practicable in unstructured surgical environments. In order to comply with the environmental deformation, both the VF geome

Cited by 66Source ↗Scholar ↗