Marco Maggiali — accepted AI-conference papers

2021

In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects

Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo +5

ICRA 2021poster

Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in the robot’s global coordinate system. For laser profile scann…

Cited by 8 Source ↗Scholar ↗

2020

Dynamic Control of a Rigid Pneumatic Gripper

Rocco Antonio Romeo, Luca Fiorio, Giuseppe L'Erario, Marco Maggiali, Giorgio Metta, Daniele Pucci

RA-L 2020

Pneumatic grippers are hugely employed in robotic applications. Nonetheless, their control is not easy due to difficulty in managing the pressure inside their air chambers. Pneumatic grippers have often simple structure though the lack of affordable control algorithms complicates their usage. Motiva

Cited by 8 Source ↗Scholar ↗

2020

Friction Identification in a Pneumatic Gripper

Rocco A. Romeo, Marco Maggiali, Daniele Pucci, Luca Fiorio

IROS 2020poster

Mechanical systems are typically composed of a number of contacting surfaces that move against each other. Such surfaces are subject to friction forces. These dissipate part of the actuation energy and cause an undesired effect on the overall system functioning. Therefore, a suitable model of fricti…

Cited by 2 Source ↗Scholar ↗

2017

The design and validation of the R1 personal humanoid

Alberto Parmiggiani, Luca Fiorio, Alessandro Scalzo, Anand Vazhapilli Sureshbabu, Marco Randazzo, Marco Maggiali +10

IROS 2017poster

In recent years the robotics field has witnessed an interesting new trend. Several companies started the production of service robots whose aim is to cooperate with humans. The robots developed so far are either rather expensive or unsuitable for manipulation tasks. This article presents the result…

Cited by 50 Source ↗Scholar ↗

2015

A new design of a fingertip for the iCub hand

Nawid Jamali, Marco Maggiali, Francesco Giovannini, Giorgio Metta, Lorenzo Natale

IROS 2015poster

Tactile sensing is of fundamental importance for object manipulation and perception. Several sensors for hands have been proposed in the literature, however, only a few of them can be fully integrated with robotic hands. Typical problems preventing integration include the need for deformable sensors…

Cited by 58 Source ↗Scholar ↗