AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

Multiresolution shape encoding with GPIS representation

A document reporting the use of GPIS to model the object shape and surrounding environment.

Preliminary exploitation plan

Preliminary plan on management procedures and channels for exploitation and protection of the project results.

Low dimensional manifolds with tensor factorization

A report on how to exploit tensor factorization to encode various manipulation tasks and object properties.

Project Handbook

The Project Handbook brings together a wide range of generaloperational information including contact details, roles and responsibilities of the partners according to the governance structure, operational and reporting processes, templates, procedures for the preparation of deliverables.

Fusion of control and sensing data as a PoE

Documentation about how to treat the fusion of diverse sources of information as a Product of Experts (PoE).

Project website

The IntelliMan website will be set up. The structure and the contents will be tailored to inform the public as well as to reach an expert (scientific / industrial) target group.

Dissemination and communication plan, second version

Update plan on the dissemination and communication activities [M24].

Dissemination and communication plan, first version

Initial plan on the dissemination and communication activities [M6].

DMP

The DMP will provide the identification elements and the descriptions of the data sets and will include details regarding how the research data will be handled during the project and how they will be preserved after it is completed. It will specify which methodologies and standards will be used in the data creation and management and how and when the data will be shared and made open for re-use.

Use Cases Intermediate Validation

Intermediate demonstrators for the validation of the four use cases considered in IntelliMan.

Publikacje

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

Autorzy: Pasquali A.; Alunni M. M.; Chiaravalli D.; Palli G.
Opublikowane w: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637048

BE-AWARE: an ontology-based adaptive robotic manipulation framework

Autorzy: Ruiz Celada, Oriol; Dalmases, Albert; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan
Opublikowane w: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023, ISSN 1946-0740
Wydawca: IEEE
DOI: 10.1109/ETFA54631.2023.10275440

Deformable Objects Perception is Just a Few Clicks Away – Dense Annotations from Sparse Inputs

Autorzy: Caporali, Alessio; Galassi, Kevin; Pantano, Matteo; Palli, Gianluca
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, ISSN 2153-0866
Wydawca: IEEE
DOI: 10.1109/IROS58592.2024.10802495

Assessment of Recurrent Spiking Neural Networks on Neuromorphic Accelerators for Naturalistic Texture Classification

Autorzy: Al Haj Ali, Haydar; Dabbous, Ali; Ibrahim, Ali; Valle, Maurizio
Opublikowane w: 2023 18th Conference on Ph.D Research in Microelectronics and Electronics (PRIME), 2023, ISBN 979-8-3503-0320-9
Wydawca: IEEE
DOI: 10.1109/PRIME58259.2023.10161772

Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

Autorzy: Fazal, Tanzeel Ahmad; Laudante, Gianluca; Mirto, Michele; Pennacchio, Olga; Pirozzi, Salvatore
Opublikowane w: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2159-6492
Wydawca: IEEE
DOI: 10.1109/MESA61532.2024.10704824

Leveraging Time-Frequency Features for Contact Classification and Regression with a Piezoelectric Tactile Skin for Robotic Fingertips

Autorzy: Alati, N.; Bargellini, D.; Pasquali, A.; Abbass, Y.; Valle, M.; Palli, G.; Meattini, R.
Opublikowane w: 2025 55th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W), Numer 71-78, 2025, ISSN 2998-4096
Wydawca: IEEE
DOI: 10.1109/DSN-W64495.2025.00024

A Compact 3-Segment 15-bit Capacitive DAC with Digital Calibration for Improved Linearity

Autorzy: Emmanuel Nti Darko, Isaac Bruce, Ekaniyere Oko-Odion, Saeid Karimpour, Kushagra Bhatheja, Degang Chen
Opublikowane w: 2025 IEEE International Symposium on Circuits and Systems (ISCAS), 2025, ISSN 2158-1522
Wydawca: IEEE
DOI: 10.1109/ISCAS56072.2025.11043602

Enhanced 6D Pose Estimation for Robotic Fruit Picking*

Autorzy: Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale, Salvatore Pirozzi
Opublikowane w: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023
Wydawca: IEEE
DOI: 10.48550/arXiv.2305.15856

Contact and Slippage Detection Algorithm using a Soft PVDF-based Sensing System

Autorzy: Razan Khalifeh; Mohamad Yaacoub; Chiara Micheli; Maurizio Valle; Yahya Abbass
Opublikowane w: 32nd IEEE International Conference on Electronics, Circuits and Systems (ICECS), 2025, ISSN 2158-8683
Wydawca: IEEE

Comparison Of Weakly Supervised Regression Of sEMG Signals With State-Of-the-Art Unsupervised Methods For Robot Hand Control: A Pilot Study

Autorzy: Meattini, Roberto; Bernardini, Alessandra; Palli, Gianluca; Melchiorri, Claudio
Opublikowane w: IFAC-PapersOnLine, 2025, ISSN 2405-8963
Wydawca: Elsevier
DOI: 10.1016/J.IFACOL.2025.10.197

A 51.2 fps Real-Time 3DGS-SLAM Accelerator using Diagonal Feeding with Symmetric Alpha Reuse and Voxel-based 3D Gaussian Cache Management

Autorzy: Hyungnam Joo, Seryeong Kim, Jongjun Park, Junha Ryu, Hoi-Jun Yoo
Opublikowane w: 2025 IEEE International Symposium on Circuits and Systems (ISCAS), 2025, ISSN 2158-1522
Wydawca: IEEE
DOI: 10.5281/ZENODO.18244995

Deformable Object Perception is Just a Few Clicks Away – Dense Annotations from Sparse Inputs

Autorzy: Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, ISSN 2153-0866
Wydawca: IEEE
DOI: 10.1109/IROS58592.2024.10802495

Multiphysics Simulation for the Optimization of an Optoelectronic-Based Tactile Sensor

Autorzy: Gianluca Laudante, Olga Pennacchio, Salvatore Pirozzi
Opublikowane w: Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 2023, ISSN 2184-2809
Wydawca: SciTePress
DOI: 10.5220/0012166900003543

Immersive control of a quadruped robot with Virtual Reality Eye-wear

Autorzy: Ali Yousefi, Zoe Betta, Giovanni Mottola, Carmine Tommaso Recchiuto, Antonio Sgorbissa
Opublikowane w: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, ISSN 1944-9437
Wydawca: IEEE
DOI: 10.1109/RO-MAN60168.2024.10731469

IEEE International Conference on Rehabilitation Robotics : [proceedings]

Autorzy: Egle, Fabio; Di Domenico, Dario; marinelli, andrea; Boccardo, Nicolo; Canepa, Michele; Laffranchi, Matteo; De Michieli, Lorenzo; Castellini, Claudio
Opublikowane w: 2023 International Conference on Rehabilitation Robotics (ICORR), 2023, ISSN 1945-7901
Wydawca: IEEE
DOI: 10.5281/ZENODO.18744503

Understanding Slippage in Soft Fingertips Through Finite Elements Analysis

Autorzy: Chiara Micheli, Lucia Seminara, Giovanni Berselli
Opublikowane w: Volume 5: 21st IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA); 49th Mechanisms and Robotics Conference (MR), 2025, ISSN 2153-6977
Wydawca: American Society of Mechanical Engineers
DOI: 10.1115/DETC2025-168595

Pilot Study: Response of a Piezoelectric Polymer based Sensing system to Indentation

Autorzy: Mohamad Yaacoub, Yahya Abbass, Christian Gianoglio, Lucia Seminara, Maurizio Valle
Opublikowane w: 2023 IEEE Sensors, 2023, ISSN 2168-9229
Wydawca: IEEE
DOI: 10.1109/SENSORS56945.2023.10325161

Using Ontologies for Adaptive Planning and Robust Execution in Robotic Manipulation

Autorzy: Oriol Ruiz-Celada; Víctor Molina; Raúl Suárez; Muhayy Ud Din; Isiah Zaplana; Jan Rosell
Opublikowane w: Proceedings of the Joint Ontology Workshops 2025 (JOWO 2025), Numer paper8, 2026, ISSN 1613-0073
Wydawca: CEUR-WS.org

A Systematic Investigation of Cognitive Processes and Stress Response of Humans in the Presence of Robots

Autorzy: Marta Rinaldi; Gianluca Saetta; Marco De Simone; Sara Federico; David Crevillen Hernandez; Ciro Natale
Opublikowane w: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2024, ISSN 1944-9437
Wydawca: IEEE
DOI: 10.1109/RO-MAN60168.2024.10731484

Online Unsupervised Arm Posture Adaptation for sEMG-based Gesture Recognition on a Parallel Ultra-Low-Power Microcontroller

Autorzy: Zanghieri, Marcello; Orlandi, Mattia; Donati, Elisa; Gruppioni, Emanuele; Benini, Luca; Benatti, Simone
Opublikowane w: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2576-7569
Wydawca: IEEE
DOI: 10.1109/BIOCAS58349.2023.10388902

Non-prehensile Manipulation Actions and Visual 6D Pose Estimation For Fruit Grasping Based on Tactile Sensing

Autorzy: Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Opublikowane w: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023, ISSN 2218-6581
Wydawca: MDPI
DOI: 10.3390/robotics12040092

Dual-Arm Robotic Manipulation Using Visual Guidance

Autorzy: Pol Ramon-Canyameres, Leopold Palomo-Avellaneda, Isiah Zaplana, Jan Rosell
Opublikowane w: 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA), 2024, ISSN 1946-0740
Wydawca: IEEE
DOI: 10.1109/ETFA61755.2024.10710687

Sparse to Dense: Robotic Perception of Deformable Objects via Foundation Models

Autorzy: Alessio Caporali; Kevin Galassi; Matteo Pantano; Gianluca Palli
Opublikowane w: 4th Workshop on Representing and Manipulating Deformable Objects at ICRA 2024, 2024
Wydawca: IEEE Robotics and Automation Society / ICRA Workshop

Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance

Autorzy: Yifei Dong; Yan Zhang; Sylvain Calinon; Florin T. Pokorny
Opublikowane w: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026, ISSN 2577-087X
Wydawca: IEEE
DOI: 10.48550/ARXIV.2502.18473

Monocular Estimation of Connector Orientation: Combining Deformable Linear Object Priors and Smooth Angle Classification

Autorzy: Caporali A.; Galassi K.; Berselli G.; Palli G.
Opublikowane w: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637081

Online Unsupervised Arm Posture Adaptation for sEMG-based Gesture Recognition on a Parallel Ultra-Low-Power Microcontroller

Autorzy: Marcello Zanghieri, Mattia Orlandi, Elisa Donati, Emanuele Gruppioni, Luca Benini, Simone Benatti
Opublikowane w: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2766-4465
Wydawca: IEEE
DOI: 10.1109/BioCAS58349.2023.10388902

Attention-Based Cloth Manipulation from Model-free Topological Representation

Autorzy: Galassi K.; Wu B.; Perez J.; Palli G.; Renders J. -M.
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, ISSN 2577-087X
Wydawca: IEEE
DOI: 10.1109/ICRA57147.2024.10610241

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

Autorzy: Alex Pasquali, Miriam Massini Alunni, Davide Chiaravalli, Gianluca Palli
Opublikowane w: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637048

Neural Strategies for Upper Limb Movements: Motor Unit Control during Dynamic Contractions at Increasing Speeds

Autorzy: Mattia Orlandi, Pierangelo Maria Rapa, Farah Baracat, Luca Benini, Elisa Donati, Simone Benatti
Opublikowane w: 2025 47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2025, ISSN 2694-0604
Wydawca: IEEE
DOI: 10.1109/EMBC58623.2025.11253409

Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting

Autorzy: Mario Baggetta, Guangbo Hao, Giovanni Berselli
Opublikowane w: Volume 2: 43rd Computers and Information in Engineering Conference (CIE), 2023, ISSN 2153-6977
Wydawca: American Society of Mechanical Engineers
DOI: 10.1115/DETC2023-116587

Interface Electronics for PVDF Based Tactile Sensor

Autorzy: Mohamad Yaacoub, Riccardo Testa, Ali Ibrahim, Daniele D. Caviglia, Maurizio Valle
Opublikowane w: 2025 International Workshop on Biomedical Applications, Technologies and Sensors (BATS), 2025, ISSN 2835-9038
Wydawca: IEEE
DOI: 10.5281/ZENODO.18783906

Scalable Shared Encoding Architecture for Learning-Based Error Detection in Robotic Wiring Harness Assembly

Autorzy: Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli
Opublikowane w: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637054

Programming Robot Interaction Behavior During Kinesthetic Teaching Exploiting sEMG-Based Interfacing and Vibrotactile Feedback

Autorzy: Meattini, Roberto; Govoni, Andrea; Galassi, Kevin; Chiaravalli, Davide; Palli, Gianluca; Melchiorri, Claudio
Opublikowane w: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Numer 1853-1859, 2024, ISSN 1944-9437
Wydawca: IEEE
DOI: 10.1109/RO-MAN60168.2024.10731403

Visual and Haptic Cues for Human-Robot Handover<sup>*</sup>

Autorzy: Marco Costanzo, Ciro Natale, Mario Selvaggio
Opublikowane w: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023, ISSN 1944-9437
Wydawca: IEEE
DOI: 10.1109/RO-MAN57019.2023.10309480

Experimental Evaluation of a User-Centered Unilateral Telemanipulation System for Training and Control in Robotic Industrial Scenarios

Autorzy: Mattia Tafuri, Davide Chiaravalli, Mona Saber Gharamaleki, Claudio Melchiorri, Gianluca Palli, Roberto Meattini
Opublikowane w: 2025 55th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W), 2025, ISSN 2998-4096
Wydawca: IEEE
DOI: 10.1109/DSN-W65791.2025.00046

Monocular Estimation of Connector Orientation: Combining Deformable Linear Object Priors and Smooth Angle Classification

Autorzy: Alessio Caporali, Kevin Galassi, Gianluca Palli
Opublikowane w: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637081

An Adaptive Dynamic Mixing Model for sEMG Real-Time ICA on an Ultra-Low Power Processor

Autorzy: Mattia Orlandi, Pierangelo Maria Rapa, Marcello Zanghieri, Sebastian Frey, Victor Kartsch, Luca Benini, Simone Benatti
Opublikowane w: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2766-4465
Wydawca: IEEE
DOI: 10.1109/BioCAS58349.2023.10388538

Conceptual Design of a Compliant, Low-Cost Prosthetic Hand

Autorzy: Mario Baggetta, Marghterita Vazzoler, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Opublikowane w: 2022 I-RIM Conference, 2022, ISBN 978-88-945805-3-2
Wydawca: Zenodo
DOI: 10.5281/zenodo.7531286

An Adaptive Dynamic Mixing Model for sEMG Real-Time ICA on an Ultra-Low Power Processor

Autorzy: Orlandi, Mattia; Rapa, Pierangelo Maria; Zanghieri, Marcello; Frey, Sebastian; Kartsch, Victor; Benini, Luca; Benatti, Simone
Opublikowane w: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2576-7569
Wydawca: IEEE
DOI: 10.1109/BIOCAS58349.2023.10388538

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Autorzy: Löw, Tobias; CALINON, Sylvain
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, ISSN 2577-087X
Wydawca: IEEE
DOI: 10.48550/ARXIV.2310.19093

Attention-Based Cloth Manipulation from Model-free Topological Representation

Autorzy: Kevin Galassi, Bingbing Wu, Julien Perez, Gianluca Palli, Jean-Michel Renders
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Wydawca: IEEE
DOI: 10.1109/ICRA57147.2024.10610241

Enabling World Information Exchange in a Heterogeneous Team of Robots for Mobile Manipulation

Autorzy: Ryo Sakagami, Martin J. Schuster, Riccardo Giubilato, Alin Albu-Schäffer, Freek Stulp, Andreas Dömel
Opublikowane w: 2025 International Conference on Space Robotics (iSpaRo), 2025
Wydawca: IEEE
DOI: 10.1109/ISPARO66239.2025.11436782

Biomimetic Tactile Sensing for Hannes Anthropomorphic Prosthetic Hand

Autorzy: Hussein Bassal; Nicolò Boccardo; Yahya Abbass; Matteo Laffranchi; Maurizio Valle
Opublikowane w: 2024, ISSN 2158-8683
Wydawca: IEEE
DOI: 10.1109/ICECS61496.2024.10848863

Machine Learning Based Contact Force Estimation Using a PVDF Tactile Sensing System

Autorzy: Mohamad Yaacoub, Razan Khalifeh, Christian Gianoglio, Ali Ibrahim, Lucia Seminara
Opublikowane w: 2025 23rd IEEE Interregional NEWCAS Conference (NEWCAS), 2025, ISSN 2576-7828
Wydawca: IEEE
DOI: 10.1109/NEWCAS64648.2025.11107072

Additively Manufactured Flexible Endoscope Driven By Guided Antagonistic Twisted String Actuation: A Pilot Experimental Evaluation

Autorzy: Edoardo Fratarcangeli, Andrea Govoni, Giuliano A. Giacoppo, Leonhard Heinrich, Roberto Meattini, Peter P. Pott, Gianluca Palli
Opublikowane w: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637078

Scalable Shared Encoding Architecture for Learning-Based Error Detection in Robotic Wiring Harness Assembly

Autorzy: Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli
Opublikowane w: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637054

Singularity Avoidance for 6-DOF Robots Using Holonomic Base Through Task-Priority Approach

Autorzy: Andrea Govoni, Emanuele Pedivellano, Michela Cavuoto, Gianluca Palli
Opublikowane w: 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2025, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM64088.2025.11175634

Towards Automated Connector Assembly: Wire Insertion Combining Tactile and Vision Sensors

Autorzy: Michele Mirto, Alessio Caporali, Gianluca Laudante, Salvatore Pirozzi, Gianluca Palli
Opublikowane w: 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2025, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM64088.2025.11175819

BE-AWARE: an ontology-based adaptive robotic manipulation framework

Autorzy: Oriol ruiz-Celada, Albert Dalmases, Raúl Suárez, Jan Rosell
Opublikowane w: Proceedings ot the IEEE Int. Conf. on Emerging Technologies and Factory Automation (ETFA), 2023, ISSN 1946-0759
Wydawca: IEEE
DOI: 10.1109/ETFA54631.2023.10275440

Endoscopic Stereo Vision for Robotic 3D Detection of Thin Wire Features

Autorzy: Tanzeel Ahmad Fazal, Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi
Opublikowane w: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, ISSN 2161-8089
Wydawca: IEEE
DOI: 10.1109/CASE59546.2024.10711442

Additively Manufactured Flexible Endoscope Driven By Guided Antagonistic Twisted String Actuation: A Pilot Experimental Evaluation

Autorzy: Fratarcangeli, Edoardo; Govoni, Andrea; Giacoppo, Giuliano A.; Heinrich, Leonhard; Meattini, Roberto; Pott, Peter P.; Palli, Gianluca
Opublikowane w: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Wydawca: IEEE
DOI: 10.1109/AIM55361.2024.10637078

C-Arm Unleashed: Intuitive Inter-Operative Positioning of C-Arms Using Wearable Gesture Detection

Autorzy: Ouyang, Jingyu; Egle, Fabio; Igney, Claudia; Mutzke, Thomas; Dahmani, Chiheb; Castellini, Claudio; Thuerauf, Sabine
Opublikowane w: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2024, ISSN 2155-1790
Wydawca: IEEE
DOI: 10.1109/BIOROB60516.2024.10719972

Visual and Haptic Cues for Human-Robot Handover*

Autorzy: Marco Costanzo, Ciro Natale, Mario Selvaggio
Opublikowane w: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) , 2023, ISSN 1944-9437
Wydawca: IEEE
DOI: 10.1109/RO-MAN57019.2023.10309480

Tactile-Driven Cable Grasping in Parallel Grippers via Hertzian Contact Modeling

Autorzy: Andrea Govoni; Michela Cavuoto; Loris Roveda; Gianluca Palli
Opublikowane w: 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA), 2024, ISSN 1946-0740
Wydawca: IEEE
DOI: 10.1109/ETFA61755.2024.10710663

Multisensory Wearable Glove for Object Recognition Based Embedded Machine Learning

Autorzy: Mohamad Yaacoub; Haydar Al Haj Ali; Christian Gianoglio; Maurizio Valle; Ali Ibrahim
Opublikowane w: 2024, ISSN 2158-8683
Wydawca: IEEE
DOI: 10.1109/ICECS61496.2024.10848876

Contact and Slippage Detection Algorithm using a Soft PVDF-based Sensing System

Autorzy: Razan Khalifeh; Mohamad Yaacoub; Chiara Micheli; Maurizio Valle; Yahya Abbass
Opublikowane w: 2025 IEEE International Conference on Electronics, Circuits and Systems (ICECS), 2025, ISSN 2158-8683
Wydawca: IEEE
DOI: 10.1109/ICECS65401.2025.10984652

Preliminary Assessment of Two Simultaneous and Proportional Myocontrol Methods for 3-DoFs Prostheses using Incremental Learning

Autorzy: Fabio Egle, Dario Di Domenico, Andrea Marinelli, Nicolò Boccardo, Michele Canepa, Matteo Laffranchi, Lorenzo De Michieli, Claudio Castellini
Opublikowane w: ICORR 2023, 2023, ISSN 1945-7901
Wydawca: IEEE
DOI: 10.1109/ICORR58425.2023.10304813

Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation

Autorzy: Romeo Orsolino, Mykhaylo Marfeychuk, Mario Baggetta, Mariana de Paula Assis Fonseca, Wesley Wimshurst, Francesco Porta, Morgan Clarke, Giovanni Berselli, Jelizaveta Konstantinova
Opublikowane w: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024
Wydawca: IEEE
DOI: 10.1109/MESA61532.2024.10704863

Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation

Autorzy: Romeo Orsolino; Mykhaylo Marfeychuk; Mario Baggetta; Mariana de Paula Assis Fonseca; Wesley Wimshurst; Francesco Porta; Morgan Clarke; Giovanni Berselli; and Jelizaveta Konstantinova
Opublikowane w: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2159-2055
Wydawca: IEEE
DOI: 10.48550/ARXIV.2410.22893

Hardness and Texture Recognition based on PVDF Sensors and Embedded Machine Learning: A case study on Hannes prosthetic hand

Autorzy: Razan Khalifeh, Yahya Abbass, Mohamad Yaacoub, Cosimo Gentile, Emanuele Gruppioni, Maurizio Valle
Opublikowane w: 2025 IEEE International Symposium on Circuits and Systems (ISCAS), 2025
Wydawca: IEEE
DOI: 10.1109/ISCAS56072.2025.11043586

Towards Unsupervised Incremental and Proportional Myocontrol Based on Higher-Density Surface Electromyography

Autorzy: Alisa Schulz, Fabio Egle, Marius Osswald, Alessandro Del Vecchio, Claudio Castellini
Opublikowane w: 2025 International Conference On Rehabilitation Robotics (ICORR), 2025, ISSN 1945-7898
Wydawca: IEEE
DOI: 10.1109/ICORR66766.2025.11063080

Virtual Prototyping of a Cable-Driven Compliant Robotic Wrist

Autorzy: Mario Baggetta, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli
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Traditional vs Generative Design Optimization for Novel Wrist Exoskeleton

Autorzy: Federico Mariano, Roberto Francesco Pitzalis, Luigi Monica, Jesus Ortiz, Giovanni Berselli
Opublikowane w: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2835-902X
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Pilot Study: Response of a Piezoelectric Polymer based Sensing system to Indentation

Autorzy: Yaacoub, Mohamad; Abbass, Yahya; Gianoglio, Christian; Seminara, Lucia; Valle, Maurizio
Opublikowane w: 2023 IEEE SENSORS, 2023, ISSN 1930-0395
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User-Tailored Fuzzy-Based Grasp Strength Regulation in Myocontrolled Robotic Hands

Autorzy: M. Sheikhsamad; R. Meattini; D. Chiaravalli; R. Suárez; J. Rosell; G. Palli
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Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

Autorzy: Tanzeel Ahmad Fazal, Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi
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Exploiting Foundation Models for Efficient Labeling of Deformable Linear Objects

Autorzy: Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
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Combined Task and Motion Planning Via Sketch Decompositions

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C-arm unleashed: Intuitive inter-operative positioning of C-arms using wearable gesture detection

Autorzy: Jingyu Ouyang, Fabio Egle, Claudia Igney, Thomas Mutzke, Chiheb Dahmani, Claudio Castellini, Sabine Thuerauf
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Dual-Arm Robotic Manipulation Using Visual Guidance

Autorzy: Ramon Canyameres, Pol; Palomo Avellaneda, Leopold; Zaplana Agut, Isiah; Rosell Gratacòs, Jan
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Robotics and Autonomous Systems

Autorzy: Muhayy Ud Din; Jan Rosell; Waseem Akram; Isiah Zaplana; Maximo A. Roa; Irfan Hussain
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Knowledge-based Execution Configuration for Adaptive Behavior Trees

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Smart perception for situation awareness in robotic manipulation tasks

Autorzy: Albert Dalmasses, Oriol Ruiz-Celada, Isiah Zaplana, Jan Rosell
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Self-Supervised Regression Of sEMG Signals Combining Non-Negative Matrix Factorization With Deep Neural Networks For Robot Hand Multi-Grasp Control

Autorzy: Roberto Meattini, Alessio Caporali, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri
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The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems

Autorzy: Salvatore D'Avella; Matteo Bianchi; Ashok M. Sundaram; Carlo Alberto Avizzano; Máximo A. Roa; Paolo Tripicchio
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A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Autorzy: Mario Baggetta, Gianluca Palli, Claudio Melchiorr, Giovanni Berselli
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A multi-modal sensing system for human-robot interaction through tactile and proximity data

Autorzy: Gianluca Laudante; Michele Mirto; Olga Pennacchio; Salvatore Pirozzi
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Neuromorphic Tactile Sensing System for Textural Features Classification

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sEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

Autorzy: Meattini, Roberto; Bernardini, Alessandra; Palli, Gianluca; Melchiorri, Claudio; Meattini, Roberto
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IEEE Transactions on Robotics

Autorzy: Cem Bilaloglu, Tobias Löw, Sylvain Calinon
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Flexible Piezoelectric Tactile Sensing System for Intelligent Object Recognition

Autorzy: Razan Khalifeh, Mohamad Yaacoub, Christian Gianoglio, Moustafa Saleh, Maurizio Valle, Yahya Abbass
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World Model for Autonomous Intelligent Mobile Manipulation

Autorzy: Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel,Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp
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Robotic perception and manipulation of deformable linear objects: A survey

Autorzy: Alessio Caporali, Ignacio Cuiral-Zueco, Gonzalo López-Nicolás, Gianluca Palli
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Bayesian Optimization for Robust Robotic Grasping Using a Sensorized Compliant Hand

Autorzy: Lechuz-Sierra, Juan G.; Huezo Martin, Ana Elvira; Sundaram, Ashok M.; Martinez-Cantin, Ruben; Roa Garzon, Máximo Alejandro
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Journal of Psychosomatic Research

Autorzy: Saetta, Gianluca; Peter, Yannik; Ruddy, Kathy; Ho, Jasmine T.; Luechinger, Roger; Michels, Lars; Lenggenhager, Bigna
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Trade-off between Accuracy and Computational Cost with Neural Architecture Search: a Novel Smart Tactile Sensing Systems Design

Autorzy: Christian Gianoglio, Edoardo Ragusa, Paolo Gastaldo, Maurizio Valle
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Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes

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Model-based approach for indentation on soft electronic skin

Autorzy: Chiara Micheli, Giovanni Berselli, Lucia Seminara
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IEEE Access

Autorzy: Oriol Ruiz-Celada; Albert Dalmases; Isiah Zaplana; Jan Rosell
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Soft pads for robotic limbs: achieving human finger compliance via finite element optimization

Autorzy: Seyyed Masoud Kargar; Giovanni Berselli
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Soft Pads for Robotic Limbs: Achieving Human Finger Compliance via Finite Element Optimization

Autorzy: Seyyed Masoud Kargar; Giovanni Berselli
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A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Autorzy: Mario Baggetta; Gianluca Palli; Claudio Melchiorri; Giovanni Berselli
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Nonlinear Model Predictive Control for Robotic Pushing of Planar Objects With Generic Shape

Autorzy: Federico, Sara; Costanzo, Marco; De Simone, Marco; Natale, Ciro; Costanzo, Marco
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sEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

Autorzy: Roberto Meattini; Alessandra Bernardini; Gianluca Palli; Claudio Melchiorri
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Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Autorzy: Cem Bilaloglu; Tobias Löw; Sylvain Calinon
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Comparison of pose estimation methods for robotic fruit picking

Autorzy: Alessio Benito Alterani, Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Opublikowane w: Sensors and Control in Robotics, 2024, ISSN 2218-6581
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Configuration Space Distance Fields for Manipulation Planning

Autorzy: Li, Yiming; Chi, Xuemin; Razmjoo Fard, Amirreza; CALINON, Sylvain
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A Case Study: FMG-based Gesture Recognition using High-Density Piezoelectric Electronic Skin and Machine Learning

Autorzy: Yahya Abbass; Silvana Miranda Montenegro; Fabio Egle; Moustafa Saleh; Maurizio Valle; Claudio Castellini
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Comparison of Soft-DTW-Based Regression of sEMG Signals with State-of-the-Art Unsupervised Methods for Robot Hand Control: A Pilot Study

Autorzy: Meattini, Roberto; Bernardini, Alessandra; Palli, Gianluca; Melchiorri, Claudio
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Condition-based Design of Variable Impedance Controllers from User Demonstrations

Autorzy: Alberto San-Miguel, Guillem Alenya, Vicenc Puig
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GNN Topology Representation Learning for Deformable Multi-Linear Objects Dual-Arm Robotic Manipulation

Autorzy: Alessio Caporali; Kevin Galassi; Riccardo Zanella; Gianluca Palli
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Embedded real-time objects’ hardness classification for robotic grippers

Autorzy: Youssef Amin, Christian Gianoglio, Maurizio Valle
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IEEE Transactions on Neural Systems and Rehabilitation Engineering

Autorzy: Fabio Egle; Constantin Kleinbeck; Liv Herzer; Philipp Beckerle; Daniel Roth; Claudio Castellini
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Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Autorzy: Tobias Löw, Sylvain Calinon
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A Recipe for Unsupervised Myocontrol - Co-Adaptive Training and Assessment in Physics-Based VR

Autorzy: Lisa Robra; Fabio Egle; Hannah Braun; Alex Pasquali; Davide Bargellini; Roberto Meattini; Claudio Castellini
Opublikowane w: IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2025, ISSN 1558-0210
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Learning Problem Decomposition for Efficient Sequential Multi-Object Manipulation Planning

Autorzy: Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, ISSN 2377-3766
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IEEE/ASME Transactions on Mechatronics

Autorzy: Mario Baggetta; Olga Pennacchio; Salvatore Pirozzi; Giovanni Berselli
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On the Modeling of Tendon-Driven Systems: a Literature Review

Autorzy: Mario Baggetta; Alberto Rittore; Giovanni Berselli
Opublikowane w: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2835-902X
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IEEE Robotics and Automation Magazine

Autorzy: Salvatore D’Avella, Matteo Bianchi, Ashok M. Sundaram, Carlo Alberto Avizzano, Máximo A. Roa, Paolo Tripicchio
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Evaluation of different hardware solutions for multiple objects grasping

Autorzy: Werner Friedl
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IEEE/ASME Transactions on Mechatronics

Autorzy: Mario Baggetta; Gianluca Palli; Claudio Melchiorri; Giovanni Berselli
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IEEE Transactions on Neural Systems and Rehabilitation Engineering

Autorzy: Evan Campbell; Fabio Egle; Marius OßWald; Ulysse Côté-Allard; Patrick M. Pilarski; Nicolò Boccardo; Roberto Meattini; Ivan Vujaklija; Levi Hargrove; Michele Canepa; Ethan Eddy; Alessandro Del Vecchio; Claudio Castellini; Erik Scheme
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Experimental Comparison of Two 6D Pose Estimation Algorithms in Robotic Fruit-Picking Tasks

Autorzy: Alterani, Alessio Benito; Costanzo, Marco; De Simone, Marco; Federico, Sara; Natale, Ciro
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Optimization of a tetrahedron compliant spherical joint via computer-aided engineering tools

Autorzy: Seyyed Masoud Kargar; Alberto Parmiggiani; Mario Baggetta; Emilio Ottonello; Guangbo Hao; Giovanni Berselli
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DLO Perceiver: Grounding Large Language Model for Deformable Linear Objects Perception

Autorzy: Caporali, Alessio; Galassi, Kevin; Palli, Gianluca
Opublikowane w: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
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IEEE Transactions on Robotics

Autorzy: Leonard Klüpfel, Lukas Burkhard, Anne Elisabeth Reichert, Maximilian Durner, Rudolph Triebel
Opublikowane w: IEEE Transactions on Robotics, Numer 41, 2025, ISSN 1552-3098
Wydawca: IEEE Institute of Electrical and Electronics Engineers
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Deformable Linear Objects Manipulation With Online Model Parameters Estimation

Autorzy: Alessio Caporali, Piotr Kicki, Kevin Galassi, Riccardo Zanella, Krzysztof Walas, Gianluca Palli
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
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A Perspective on Prosthetic Hands Control: From the Brain to the Hand

Autorzy: Cosimo Gentile, Emanuele Gruppioni
Opublikowane w: Innovations in the Control and Assessment of Prosthetic Arms, 2023, ISSN 2673-1592
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Learning passive policies with virtual energy tanks in robotics

Autorzy: Riccardo Zanella, Stefano Stramigioli, Federico Califano, Gianluca Palli
Opublikowane w: IET Control Theory & Applications, 2023, ISSN 1751-8644
Wydawca: Institution of Engineering and Technology
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Hardness Discrimination Using Piezoelectric-Based Biomimetic Tactile Sensor and Machine Learning

Autorzy: Hussein Bassal; Yahya Abbass; Christian Gianoglio; Maurizio Valle
Opublikowane w: IEEE Sensors Letters, 2024, ISSN 2475-1472
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Logic Learning From Demonstrations for Multi-Step Manipulation Tasks in Dynamic Environments

Autorzy: Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Opublikowane w: IEEE Robotics and Automation Letters, Numer 9, 2024, ISSN 2377-3766
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Nonlinear Model Predictive Control for Robotic Pushing of Planar Objects With Generic Shape

Autorzy: Sara Federico, Marco Costanzo, Marco De Simone, Ciro Natale
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
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Multimodal grasp planner for hybrid grippers in cluttered scenes

Autorzy: Salvatore D’Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, and Maximo A. Roa
Opublikowane w: IEEE Robotics and Automation Letters, Numer Vol. 8 Numer 4, 2023, ISSN 2377-3766
Wydawca: IEEE
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Evaluation of mental stress in Human-Robot interaction: an explorative study

Autorzy: Marta Rinaldi, Ciro Natale, Marcello Fera, Roberto Macchiaroli, Maria Grazia, Lourdes Monaco, Eric Grosse
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From Movement Primitives to Distance Fields to Dynamical Systems

Autorzy: Yiming Li, Sylvain Calinon
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, ISSN 2377-3766
Wydawca: IEEE Institute of Electrical and Electronics Engineers
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Online Learning of Piecewise Polynomial Signed Distance Fields for Manipulation Tasks

Autorzy: Ante Maric, Yiming Li, and Sylvain Calinon
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The Sense of Body Adherence in Body Integrity Dysphoria: A Neuroscientific Account

Autorzy: Gianluca Saetta
Opublikowane w: Reti Saperi Linguaggi, Numer 1, 2024, ISSN 2279-7777
Wydawca: Società editrice Il Mulino
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IEEE Transactions on Biomedical Circuits and Systems

Autorzy: Mattia Orlandi, Pierangelo Maria Rapa, Marcello Zanghieri, Sebastian Frey, Victor Kartsch, Luca Benini, Simone Benatti
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Wydawca: Institute of Electrical and Electronics Engineers
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Knowledge-based Execution Configuration for Adaptive Behavior Trees

GNN Topology Representation Learning for Deformable Multi-Linear Objects Dual-Arm Robotic Manipulation

Projection-based first-order constrained optimization solver for robotics

Autorzy: Hakan Girgin, Tobias Löw, Teng Xue, Sylvain Calinon
Opublikowane w: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
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Evaluation of mental stress in human-robot interaction: an explorative study

Autorzy: Rinaldi M.; Natale C.; Fera M.; Macchiaroli R.; Monaco M. G. L.; Grosse E. H.
Opublikowane w: Procedia Computer Science, 2024, ISSN 1877-0509
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AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting

Autorzy: Jankowski, Julius; Marić, Ante; Calinon, Sylvain
Opublikowane w: 2024, ISSN 2331-8422
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Tactile Ergodic Control Using Diffusion and Geometric Algebra

Autorzy: Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Opublikowane w: 2024
Wydawca: Idiap Research Institute & EPFL
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gafro: Geometric Algebra for Robotics

Autorzy: Tobias Löw, Philip Abbet, Sylvain Calinon
Opublikowane w: 2023
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Towards Bioinspired Co-Adaptive Control of a 3-DoFs Upper-Limb Prosthesis via Incremental Learning

Autorzy: Di Domenico, Dario; Egle, Fabio
Opublikowane w: 2025
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DMP — Data Management Plan

Autorzy: Palli, Gianluca; Del Monte, Rachele; Meattini, Roberto
Opublikowane w: 2023
Wydawca: Alma Mater Studiorum - Università di Bologna
DOI: 10.6092/UNIBO/AMSACTA/7301

A touch of humanity for human-in-the-loop artificial hands / A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

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Opublikowane w: Science Robotics, Numer Vol. 8 No. 78, 2023, ISSN 2470-9476
Wydawca: Science Robotics
DOI: 10.1126/scirobotics.add5434

Learning Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

Autorzy: Yiming Li, Yan Zhang, Amirreza Razmjoo Fard, Sylvain Calinon
Opublikowane w: 2023
Wydawca: Idiap Research Institute & EPFL
DOI: 10.48550/arXiv.2307.00533

Development of a flexible, modular, and wearable 3D-printed sensor system

Autorzy: Enes Bektürk, Marc-Anton Scheidl, Fabio Egle, Claudio Castellini
Opublikowane w: 2023
Wydawca: Zenodo
DOI: 10.5281/zenodo.8289286

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Autorzy: Tobias Löw, Sylvain Calinon
Opublikowane w: 2023
Wydawca: -
DOI: 10.48550/ARXIV.2310.19093

Logic Dynamic Movement Primitives for Long-horizon Manipulation Tasks in Dynamic Environments

Autorzy: Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Opublikowane w: ISSN 2331-8422
Wydawca: -
DOI: 10.48550/ARXIV.2404.16138

Co-Adaptive Velocity and Position Control of 3-DoFs Prosthesis via Incremental Learning

Autorzy: Di Domenico, Dario; Egle, Fabio
Opublikowane w: 2025
Wydawca: Zenodo
DOI: 10.5281/ZENODO.16761602

Communications in Computer and Information Science

Autorzy: Chiara Micheli, Giovanni Berselli, Lucia Seminara
Opublikowane w: Lecture Notes in Electrical Engineering, Proceedings of SIE 2024, 2025, ISSN 1865-0929
Wydawca: Springer Verlag
DOI: 10.5281/ZENODO.18789503

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