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Manuel Bonilla

4 accepted papers

2018

Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints

Gian Maria Gasparri, Silvia Manara, Danilo Caporale, Giuseppe Averta, Manuel Bonilla, Hamal Marino +5
RA-L 2018

Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be used to make the optimization more treatable and t

Cited by 22Source ↗Scholar ↗
2018

Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning

Giuseppe Averta, Franco Angelini, Manuel Bonilla, Matteo Bianchi, Antonio Bicchi
RA-L 2018

Postural hand synergies or eigenpostures are joint angle covariation patterns observed in common grasping tasks. A typical definition associates the geometry of synergy vectors and their hierarchy (relative statistical weight) with the principal component analysis of an experimental covariance matri

Cited by 20Source ↗Scholar ↗
2018

Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond

Matteo Bianchi, Giuseppe Averta, Edoardo Battaglia, Carlos Rosales, Manuel Bonilla, Alessandro Tondo +5
ICRA 2018poster

Recently, the avenue of adaptable, soft robotic hands has opened simplified opportunities to grasp different items; however, the potential of soft end effectors (SEEs) is still largely unexplored, especially in human-robot interaction. In this paper, we propose, for the first time, a simple touch-ba…

Cited by 29Source ↗Scholar ↗
2017

Noninteracting constrained motion planning and control for robot manipulators

Manuel Bonilla, Lucia Pallottino, Antonio Bicchi
ICRA 2017poster

In this paper we present a novel geometric approach to motion planning for constrained robot systems. This problem is notoriously hard, as classical sampling-based methods do not easily apply when motion is constrained in a zero-measure submanifold of the configuration space. Based on results on the…

Cited by 41Source ↗Scholar ↗