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Dynamic force/torque sensors: theory and experiments

Title	Dynamic force/torque sensors: theory and experiments
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. Int. Conference on Advanced Robotics
Pagination	727-732
Publication Language	eng
Authors	Bicchi, A, Caiti, A, Prattichizzo, D
Conference Location	Monterey, CA, USA
Keywords	Sensors
Abstract	Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

Force and Dynamic Manipulability for Cooperating Robot Systems

Title	Force and Dynamic Manipulability for Cooperating Robot Systems
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
Publication Language	eng
Authors	Bicchi, A, Prattichizzo, D, Melchiorri, C
Keywords	Haptics, Robot Arms, Robot Hands

Manipulation of polyhedral parts by rolling

Title	Manipulation of polyhedral parts by rolling
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Publication Language	eng
Authors	Marigo, A, Chitour, Y, Bicchi, A
Keywords	Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems

Interactive Benchmark for Planning Algorithms on the Web

Title	Interactive Benchmark for Planning Algorithms on the Web
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Pagination	399-404
Publication Language	eng
Authors	Piccinocchi, S, Ceccarelli, M, Piloni, F, Bicchi, A
Keywords	Autonomous Vehicles, Navigation and Planning, Telelab

Geometric Control Techniques for Manipulation Systems

Title	Geometric Control Techniques for Manipulation Systems
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proceeding Int. Conf. Computer Integrated Systems
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Conference Location	Belfort, France
Keywords	Haptics, Robotics

Geometric Control Techniques for Mechanical Systems

Title	Geometric Control Techniques for Mechanical Systems
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Int. Conf. Italian Association for Theretical and Applied Mechanics
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Conference Location	Siena, Italia, september 29 - October 3 1997
Keywords	Haptics, Robotics

On the Decoupling and Output Functional Controllability of Robotic Manipulation

Title	On the Decoupling and Output Functional Controllability of Robotic Manipulation
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IFAC Int. Symp. on Robot Control
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Keywords	Grasping, Robot Arms, Robot Hands

On the Geometric Control of Internal Forces in Power Grasp

Title	On the Geometric Control of Internal Forces in Power Grasp
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. Conf. on Decision and Control
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Keywords	Grasping, Robot Arms, Robot Hands

Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments

Title	Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems
Publication Language	eng
Authors	Scilingo, EP, De Rossi, D, Bicchi, A, Iaccone, P
Conference Location	Dallas
Keywords	Bioengineering, Haptics, Robotics

Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons' haptic percetion of manipulated tissues

Title	Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons' haptic percetion of manipulated tissues
Publication Type	Conference Paper
Year of Publication	1997
Conference Name	Proc. IEEE Int. Conf. Engineering in Medicine and Biology
Publication Language	eng
Authors	Scilingo, EP, De Rossi, D, Bicchi, A, Iaccone, P
Conference Location	Chicago
Keywords	Haptics, Sensors

Path Tracking Control for Dubin's Cars

Title	Path Tracking Control for Dubin's Cars
Publication Type	Conference Paper
Year of Publication	1996
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Publication Language	eng
Authors	Balluchi, A, Bicchi, A, Balestrino, A, Casalino, G
Keywords	Autonomous Vehicles, Embedded Control, Nonlinear Control Systems

Reflex Control of Locomotion for a Four-Legged Vehicle with Leg Redundancy

Title	Reflex Control of Locomotion for a Four-Legged Vehicle with Leg Redundancy
Publication Type	Conference Paper
Year of Publication	1996
Conference Name	Proc. IFAC World Congress
Publication Language	eng
Authors	Balluchi, A, Bicchi, A, Casalino, G, Prattichizzo, D
Keywords	Autonomous Vehicles, Legged Vehicles

Hands for Dextrous Manipulation and Powerful Grasping: a Difficult Road Towards Simplicity

Title	Hands for Dextrous Manipulation and Powerful Grasping: a Difficult Road Towards Simplicity
Publication Type	Conference Paper
Year of Publication	1996
Conference Name	Robotics Research - VII
Pagination	2-15
Publication Language	eng
Authors	Bicchi, A
Editor	Giralt, G, Hirzinger, G
Publisher	Springer Verlag
Conference Location	Berlin Heidelberg, Germany
Keywords	Grasping, Haptics, Robot Hands

A sensor-based minimally invasive surgery tool for detecting tissue elastic properties

Title	A sensor-based minimally invasive surgery tool for detecting tissue elastic properties
Publication Type	Conference Paper
Year of Publication	1996
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Pagination	884-888
Publication Language	eng
Authors	Bicchi, A, Canepa, G, De Rossi, D, Iacconi, P, Scilingo, EP
Keywords	Haptics, Tools for Minimally Invasive Surgery

Dexterity through Rolling: Towards Manipulation of Unknown Objects

Title	Dexterity through Rolling: Towards Manipulation of Unknown Objects
Publication Type	Conference Paper
Year of Publication	1996
Conference Name	Proc. Third Int. Symp. on Methods and Models for Automation and Robotics
Publication Language	eng
Authors	Bicchi, A, Chitour, Y, Marigo, A, Prattichizzo, D
Conference Location	Miedzyzdroje, Poland
Keywords	Nonlinear Control Systems, Robot Hands

Specifying Consistent Control Goals for Kinematically Defective Manipulation Systems

Title	Specifying Consistent Control Goals for Kinematically Defective Manipulation Systems
Publication Type	Conference Paper
Year of Publication	1996
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Publication Language	eng
Authors	Prattichizzo, D, Bicchi, A
Keywords	Robot Arms, Robot Hands

Noninteracting force/motion control of defective manipulation systems

Title	Noninteracting force/motion control of defective manipulation systems
Publication Type	Conference Paper
Year of Publication	1996
Conference Name	Proc. Conf. on Decision and Control
Publication Language	eng
Authors	Prattichizzo, D, Mercorelli, P, Bicchi, A, Vicino, A
Keywords	Robot Arms, Robot Hands

Quasi-Block Diagonal Dominance Condition for Robust Decentralized Tracking Control

Title	Quasi-Block Diagonal Dominance Condition for Robust Decentralized Tracking Control
Publication Type	Conference Paper
Year of Publication	1995
Conference Name	Proc. European Control Conference
Publication Language	eng
Authors	Balluchi, A, Bicchi, A, Balestrino, A
Conference Location	Rome
Keywords	Embedded Control, Nonlinear Control Systems

Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among obstacles

Title	Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among obstacles
Publication Type	Conference Paper
Year of Publication	1995
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Pagination	1349-1354
Publication Language	eng
Authors	Bicchi, A, Casalino, G, Santilli, C
Keywords	Autonomous Vehicles, Navigation and Planning

A Standard Form for the Dynamics of General Manipulation Systems

Title	A Standard Form for the Dynamics of General Manipulation Systems
Publication Type	Conference Paper
Year of Publication	1995
Conference Name	Proc. IEEE Int. Conf. on Robotics and Automation
Pagination	2810-2815
Publication Language	eng
Authors	Bicchi, A, Prattichizzo, D
Keywords	Haptics, Robot Arms, Robot Hands

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