04b Atto di convegno in volume

Enhancing force feedback in teleoperated needle insertion through on-line identification of the needle-tissue interaction parameters

This paper proposes an approach for displaying the needle-tip interaction force exchanged between the needle tip and the tissues to the remote operator of a teleoperated needle insertion procedure. As known, the measures of the needle tip interaction force with tissues obtained through F/T sensor...
Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods
Identifying the dynamic model used by the KUKA LWR: A reverse engineering approach
Demo abstract: Plants as Sensing Devices: The PLEASED experience
An islet population model of pancreatic insulin production
Sensor-Based Task-Constrained Motion Planning using Model Predictive Control

A redundant robotic system must execute a task in a workspace populated by obstacles whose motion is unknown in advance. For this problem setting, we present a sensor-based planner that uses Model Predictive Control (MPC) to generate motion commands for the robot. We also propose a real-time...
Parallel collision check for sensor based real-time motion planning

In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card’s GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real- time motion planning problem for a redundant manipulator. We...
Hybrid force/velocity control for physical human-robot collaboration tasks
Control of generalized contact motion and force in physical human-robot interaction
Estimation of contact forces using a virtual force sensor