04b Atto di convegno in volume

Detection and isolation of actuator faults and collisions for a flexible robot arm

This paper presents a unified approach to detection and isolation of both actuator faults and unexpected collisions for a two-link robot with a flexible forearm. The proposed approach is sensorless, i.e., no dedicated exteroceptive sensors are considered, and is based on the design of residuals to...
Towards a hybrid EEG-EMG feature for the classification of upper limb movements: comparison of different processing pipelines

The functional connectivity between cortex and muscle during motor tasks can change after stroke. Motor rehabilitation aims at restoring it, either by re-establishing “close-to-normal” connectivity or supporting the development of alternative pathways. With the ultimate aim to design a...
Patient-Clinician Brain Response during Clinical Encounter and Pain Treatment
Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot

In recent years Reinforcement Learning (RL) has achieved remarkable results. Nonetheless RL algorithms prove to be unsuccessful in robotics applications where constraints satisfaction is involved, e.g. for safety. In this work we propose a control algorithm that allows to enforce constraints over a...
Learning Feedback Linearization Control Without Torque Measurements

Feedback Linearization (FL) allows the best control performance in executing a desired motion task when an accurate dynamic model of a fully actuated robot is available. However, due to residual parametric uncertainties and unmodeled dynamic effects, a complete cancellation of the nonlinear...
Towards a hybrid EEG-EMG feature for the classification of upper limb movements: comparison of different processing pipelines

The functional connectivity between cortex and muscle during motor tasks can change after stroke. Motor rehabilitation aims at restoring it, either by re-establishing “close-to-normal” connectivity or supporting the development of alternative pathways. With the ultimate aim to design a...
CrossWidgets: Enhancing Complex Data Selections through Modular Multi Attribute Selectors

Filtering is one of the basic interaction techniques in Information Visualization, with the main objective of limiting the amount of displayed information using constraints on attribute values. Research focused on direct manipulation selection means or on simple interactors like sliders or check-...
WEIZZ: Automatic grey-box fuzzing for structured binary formats
Patient-Clinician Brain Response during Clinical Encounter and Pain Treatment
Robust MPC-Based Gait Generation in Humanoids

We introduce a robust gait generation framework for humanoid robots based on our Intrinsically Stable Model Predictive Control (IS-MPC) scheme, which features a stability constraint to guarantee internal stability. With respect to the original version, the new framework adds multiple components...