@conference {2883, title = {Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS 2016)}, year = {2016}, publisher = {IEEE}, organization = {IEEE}, address = {Danjeon, Korea, October 10-14 2016}, abstract = {

In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot is in contact with the environment also with the internal limbs, with a consequent loss of contact force controllability. Experimental tests were conducted with the Walk-Man robot (i) standing on flat terrain, (ii) standing on uneven terrain and (iii) interacting with the environment with both feet and a hand touching a vertical wall. Moreover, the influence of unmodeled weight on the robot, and the combination with a higher priority Cartesian tasks are shown. Results are presented also in the attached video.

}, keywords = {Robotics}, doi = {10.1109/IROS.2016.7759225}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759225}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @conference {2337, title = {Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {5675 - 5681}, address = {Seattle, USA, 25 - 30 May}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2015.7139994}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @conference {2338, title = {Sample-Based Motion Planning for Robot Manipulators with Closed Kinematic Chains}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, note = {

softhands pacman walkman

}, pages = {2522 - 2527}, publisher = {IEEE}, organization = {IEEE}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139537}, author = {M. Bonilla and E. Farnioli and L. Pallottino and A. Bicchi} } @article {1665, title = {Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand}, journal = {International Journal of Robotics Research}, volume = {33}, year = {2014}, pages = {768{\textendash}782}, keywords = {Haptics, Robotics}, doi = {10.1177/0278364913518998}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and C. Piazza and A. Bicchi} } @conference {2232, title = {Grasping with Soft Hands}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {581 - 587}, address = {Madrid, Spain, November 18 - 20}, abstract = {

Despite some prematurely optimistic claims, the ability of robots to grasp general objects in unstructured environments still remains far behind that of humans. This is not solely caused by differences in the mechanics of hands: indeed, we show that human use of a simple robot hand (the Pisa/IIT SoftHand) can afford capabilities that are comparable to natural grasping. It is through the observation of such human-directed robot hand operations that we realized how fundamental in everyday grasping and manipulation is the role of hand compliance, which is used to adapt to the shape of surrounding objects. Objects and environmental constraints are in turn used to functionally shape the hand, going beyond its nominal kinematic limits by exploiting structural softness. In this paper, we set out to study grasp planning for hands that are simple {\textemdash} in the sense of low number of actuated degrees of freedom (one for the Pisa/IIT SoftHand) {\textemdash} but are soft, i.e. continuously deformable in an infinity of possible shapes through interaction with objects. After general considerations on the change of paradigm in grasp planning that this setting brings about with respect to classical rigid multi-dof grasp planning, we present a procedure to extract grasp affordances for the Pisa/IIT SoftHand through physically accurate numerical simulations. The selected grasps are then successfully tested in an experimental scenario.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041421}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=7041421\&queryText\%3DGrasping+with+Soft+Hands}, author = {M. Bonilla and E. Farnioli and C. Piazza and M. G. Catalano and G. Grioli and M. Garabini and M Gabiccini and A. Bicchi} } @inbook {1694, title = {HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS}, booktitle = {Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project}, volume = {94}, number = {Springer Tracts in Advanced Robotics}, year = {2014}, pages = {197-215}, abstract = {

The scientific goal of HANDS.DVI consists of developing a common
framework to programming robotic hands independently from their kinematics,
mechanical construction, and sensor equipment complexity. Recent results on the
organization of the human hand in grasping and manipulation are the inspiration
for this experiment. The reduced set of parameters that we effectively use to control
our hands is known in the literature as the set of synergies. The synergistic
organization of the human hand is the theoretical foundation of the innovative approach
to design a unified framework for robotic hands control. Theoretical tools
have been studied to design a suitable mapping function of the control action (decomposed
in its elemental action) from a human hand model domain onto the
articulated robotic hand co-domain. The developed control framework has been
applied on an experimental set up consisting of two robotic hands with dissimilar
kinematics grasping an object instrumented with force sensors.

}, keywords = {Haptics, Robotics}, doi = {10.1007/978-3-319-02934-4_10}, author = {G. Salvietti and G. Gioioso and M. Malvezzi and D Prattichizzo and A. Serio and E. Farnioli and M Gabiccini and A. Bicchi and I. Sarakoglou and N G Tsagarakis and D. G. Caldwell} } @article {1821, title = {Grasp Analysis Tools for Synergistic Underactuated Robotic Hands}, journal = {International Journal of Robotic Reasearch}, volume = {32}, year = {2013}, month = {11/2013}, pages = {1553 - 1576}, keywords = {Haptics, Robotics}, author = {M Gabiccini and E. Farnioli and A. Bicchi} } @conference {1706, title = {Grasp Compliance Regulation in Synergistically Controlled Robotic Hands with VSA}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {3015 -3022}, address = {Tokyo, Japan}, keywords = {Robotics}, doi = {10.1109/IROS.2013.6696783 }, author = {E. Farnioli and M Gabiccini and M. Bonilla and A. Bicchi} } @conference {1188, title = {Adaptive Synergies for a Humanoid Robot Hand}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, note = {

Best Paper Award

}, pages = {7-14}, address = {Osaka, Japan}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and A. Serio and E. Farnioli and C. Piazza and A. Bicchi} } @conference {FGB12, title = {Grasp and Manipulation Analysis for Synergistic Underactuated Hands Under General Loading Conditions}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {2836 - 2842}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M Gabiccini and E. Farnioli and A. Bicchi} } @conference {1243, title = { Velvet fingers: A dexterous gripper with active surfaces}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {1257 - 1263 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {V. Tincani and M. G. Catalano and E. Farnioli and M. Garabini and G. Grioli and G Fantoni and A. Bicchi} } @conference {GFMB11, title = {Structural Properties of Compliant Grasps with Underactuated Robotic Hands}, booktitle = {XX Congresso Aimeta}, year = {2011}, note = {

ISBN 978-88-906340-1-7 (online); ISBN 978-88-906340-0-0 (print)

}, month = {September, 12}, address = {Bologna, Italy}, keywords = {Haptics, Robotics}, author = {M Gabiccini and E. Farnioli and M. Malvezzi and A. Bicchi} }