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Pietro Balatti

10 accepted papers

2024

A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER)

Andrea Fortuna, Marta Lorenzini, Mattia Leonori, Juan M. Gandarias, Pietro Balatti, Younggeol Cho +2
ICRA 2024poster

Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide sufficient support to users’ stability or too bulky and poorly maneuverable to be used outside hospital environments. In a…

Cited by 3Source ↗Scholar ↗
2024

Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Pietro Balatti, Idil Ozdamar, Doganay Sirintuna, Luca Fortini, Mattia Leonori, Juan M. Gandarias +1
ICRA 2024poster

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupli…

Cited by 6Source ↗Scholar ↗
2022

A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration

Yasuhiro X. Kato, Pietro Balatti, Juan M. Gandarias, Mattia Leonori, Toshiaki Tsuji, Arash Ajoudani
RA-L 2022

This letter presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the robot's trajectory based on the haptic interaction with the envir

Cited by 7Source ↗Scholar ↗
2022

Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface

Juan M. Gandarias, Pietro Balatti, Edoardo Lamon, Marta Lorenzini, Arash Ajoudani
ICRA 2022poster

This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically coupled to a mobile manipulator to be assisted in performin…

Cited by 7Source ↗Scholar ↗
2020

A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)

Edoardo Lamon, Fabio Fusaro, Pietro Balatti, Wansoo Kim, Arash Ajoudani
IROS 2020poster

In this work, we propose a novel visuo-haptic guidance interface to enable mobile collaborative robots to follow human instructions in a way understandable by non-experts. The interface is composed of a haptic admittance module and a human visual tracking module. The haptic guidance enables an indiv…

Cited by 18Source ↗Scholar ↗
2020

MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions

Wansoo Kim, Pietro Balatti, Edoardo Lamon, Arash Ajoudani
ICRA 2020poster

The objective of this paper is to create a new collaborative robotic system that subsumes the advantages of mobile manipulators and supernumerary limbs. By exploiting the reconfiguration potential of a MObile Collaborative robot Assistant (MOCA), we create a collaborative robot that can function aut…

Cited by 46Source ↗Scholar ↗
2019

A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant

Yuqiang Wu, Pietro Balatti, Marta Lorenzini, Fei Zhao, Wansoo Kim, Arash Ajoudani
RA-L 2019

This letter presents a novel teleoperation interface that enables remote loco-manipulation control of a MObile Collaborative robotic Assistant (MOCA). MOCA is a new research platform developed at the Istituto Italiano di Tecnologia (IIT), which is composed of a lightweight manipulator arm, a Pisa/II

Cited by 91Source ↗Scholar ↗
2019

Towards Ergonomic Control of Collaborative Effort in Multi-human Mobile-robot Teams

Wansoo Kim, Marta Lorenzini, Pietro Balatti, Yuqiang Wu, Arash Ajoudani
IROS 2019poster

In this paper, we propose a control framework for a multi-human and mobile-robot collaborative team, that takes into account the co-workers' ergonomic requirements as well as the demand for high flexibility in the manufacturing industries. The new MObile Collaborative robotic Assistant (MOCA), which…

Cited by 38Source ↗Scholar ↗
2019

Towards Robot Interaction Autonomy: Explore, Identify, and Interact

Pietro Balatti, Dimitrios Kanoulas, Nikos G. Tsagarakis, Arash Ajoudani
ICRA 2019poster

Nowadays, robots are expected to enter in various application scenarios and interact with unknown and dynamically changing environments. This highlights the need for creating autonomous robot behaviours to explore such environments, identify their characteristics and adapt, and build knowledge for f…

Cited by 21Source ↗Scholar ↗
2018

A Self-Tuning Impedance Controller for Autonomous Robotic Manipulation

Pietro Balatti, Dimitrios Kanoulas, Giuseppe F. Rigano, Luca Muratore, Nikos G. Tsagarakis, Arash Ajoudani
IROS 2018poster

Complex interactions with unstructured environments require the application of appropriate restoring forces in response to the imposed displacements. Impedance control techniques provide effective solutions to achieve this, however, their quasi-static performance is highly dependent on the choice of…

Cited by 29Source ↗Scholar ↗