Mario Di Castro — accepted AI-conference papers

2024

An Inverse Kinematics Algorithm With Smooth Task Switching for Redundant Robots

Hannes Gamper, Laura Rodrigo Pérez, Andreas Müller, Alejandro Díaz Rosales, Mario Di Castro

RA-L 2024

This paper presents an inverse kinematics approach that combines two well-known Jacobian based methods, the task-priority framework and an optimization-based approach, such that tracking and optimization tasks can be executed simultaneously. The novelty of the proposed algorithm lies in the ability

Cited by 6 Source ↗Scholar ↗

2022

Modelling and control of a variable-length flexible beam on inspection ground robot

Giancarlo D'Ago, Marie Lefebvre, Luca Rosario Buonocore, Fabio Ruggiero, Mario Di Castro, Vincenzo Lippiello

ICRA 2022poster

Stabilising an inverted pendulum on a cart is a well-known control problem. This paper proposes the mechan-ical and control design for solving the oscillation problem of a variable-length flexible beam mounted on a mobile robot. The system under consideration is the robot PovRob, used at the Europea…

Cited by 2 Source ↗Scholar ↗