AIConfPaper
← Search

Manuel Giuseppe Catalano

7 accepted papers

2026

Shear-Based Grasp Control for Multi-Fingered Underactuated Tactile Robotic Hands

Christopher Ford, Haoran Li, Manuel Giuseppe Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan Lepora
ICRA 2026poster

This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile sensors on all five fingertips. These `microTac' tactile sensors are miniature versions of the TacTip vision-based tactile se…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

The Challenges of Using Robots to Automate the Recycling of Electronic Devices

Ales Ude, Mihael Simonic, Boris Kuster, Matija Mavsar, Martin Bem, Sebastian Ruiz +10
ICRA 2026poster

This paper tackles the challenges of automating battery removal from small electronic devices, such as heat cost allocators and smoke detectors. The process is critical for mitigating fire hazards caused by lithium batteries in recycling facilities and for supporting a circular economy. We focus on …

Cited by 0Scholar ↗
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 7Source ↗Scholar ↗
2020

Exploiting Adaptability in Soft Feet for Sensing Contact Forces

Domenico Mura, Cosimo Della Santina, Cristina Piazza, Irene Frizza, Cecilia Morandi, Manolo Garabini +2
RA-L 2020

The large majority of legged robots currently employ ball-feet or flat-feet. More recently soft feet have been introduced, to improve walking performance on uneven grounds. Nevertheless, their novel adaptability requires sensor systems beyond traditional Force/Torque sensors to estimate the distribu

Cited by 5Source ↗Scholar ↗
2020

Exploring the Role of Palm Concavity and Adaptability in Soft Synergistic Robotic Hands

Patricia Capsi-Morales, Giorgio Grioli, Cristina Piazza, Antonio Bicchi, Manuel Giuseppe Catalano
RA-L 2020

Robotic hand engineers usually focus on finger capabilities, often disregarding the palm contribution. Inspired by human anatomy, this paper explores the advantages of including a flexible concave palm into the design of a robotic hand actuated by soft synergies. We analyse how the inclusion of an a

Cited by 18Source ↗Scholar ↗
2019

A Compact Soft Articulated Parallel Wrist for Grasping in Narrow Spaces

Francesca Negrello, Sariah Mghames, Giorgio Grioli, Manolo Garabini, Manuel Giuseppe Catalano
RA-L 2019

The increasing presence of high density logistic warehouses demands the deployment of fast and flexible robotic solutions. One of the open challenges toward this objective is manipulation in narrow settings. This work addresses such a problem from a design perspective. By observing human arm dexteri

Cited by 23Source ↗Scholar ↗
2019

Novel Lockable and Stackable Compliant Actuation Unit for Modular +SPEA Actuators

Glenn Mathijssen, Raphaël Furnemónt, Elias Saerens, Manolo Garabini, Manuel Giuseppe Catalano, Dirk Lefeber +2
RA-L 2019

On compliant robotic systems, modularity is recently adopted for the ease of up- and downscaling and the possibility to downgrade the costs, by moving towards the combination of standard units instead of custom designs. However, modularity on the actuator level itself lacks more thorough evaluation.

Cited by 3Source ↗Scholar ↗