AIConfPaper
← Search

Luigi Villani

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

Vision-based Virtual Fixtures Generation for Robotic-Assisted Polyp Dissection Procedures

Rocco Moccia, Mario Selvaggio, Luigi Villani, Bruno Siciliano, Fanny Ficuciello
IROS 2019poster

Polyp dissection requires very accurate detection of the region of interest and high-precision cutting with adequate safety margins. Robot-assisted polyp dissection is a solution to accomplish high-quality intervention. This paper proposes a method to constrain the robot to follow an accurate dissec…

Cited by 23Source ↗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

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 ↗
2016

A Conformable Force/Tactile Skin for Physical Human-Robot Interaction

Andrea Cirillo, Fanny Ficuciello, Ciro Natale, Salvatore Pirozzi, Luigi Villani
RA-L 2016

In this letter, a new sensorized flexible skin has been used to enhance safety and intuitiveness of physical human-robot interaction (HRI) in applications where both intentional and unintentional contacts may occur. The new technological contribution with respect to other skin sensors consists of th

Cited by 142Source ↗Scholar ↗
2015

Visual servoing with safe interaction using image moments

Hamid Sadeghian, Luigi Villani, Zahra Kamranian, Abbas Karami
IROS 2015poster

The problem of image based visual servoing for robots working in a cluttered dynamic environment is addressed in this paper. It is assumed that the environment is observed by depth sensors which allow to measure the distance between any moving obstacle and the robot. Also an eye-in-hand camera is us…

Cited by 14Source ↗Scholar ↗