Search Results - "Leonori, Mattia"

A flexible and collaborative approach to robotic box-filling and item sorting by Balatti, Pietro, Leonori, Mattia, Ajoudani, Arash

“…In this paper, we introduce an adaptive robotic manipulation framework to respond to the flexibility needs of common industrial tasks such as box-filling and…”
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Design and Control of an Assistive Device for Elbow Effort-Compensation by Mobedi, Emir, Kim, Wansoo, Leonori, Mattia, Tsagarakis, Nikos G., Ajoudani, Arash

“…In this article, we introduce an assistive device for the elbow joint that is easily wearable, lightweight, and cable driven using a series elastic actuation…”
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SUPER-MAN: SUPERnumerary robotic bodies for physical assistance in huMAN–robot conjoined actions by Giammarino, Alberto, Gandarias, Juan M., Balatti, Pietro, Leonori, Mattia, Lorenzini, Marta, Ajoudani, Arash

“…This paper presents a mobile supernumerary robotic approach to physical assistance in human–robot conjoined actions. The study starts with the description of…”
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Simultaneously Learning of Motion, Stiffness, and Force From Human Demonstration Based on Riemannian DMP and QP Optimization by Liao, Zhiwei, Tassi, Francesco, Gong, Chenwei, Leonori, Mattia, Zhao, Fei, Jiang, Gedong, Ajoudani, Arash

“…In this paper, we propose a motion, stiffness, and force learning framework based on an extended dynamic movement primitive (DMP) and quadratic programming…”
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A User- and Slope-Adaptive Control Framework for a Walking Aid Robot by Cho, Younggeol, Lorenzini, Marta, Fortuna, Andrea, Leonori, Mattia, Ajoudani, Arash

“…Walking aid robots have been developed for elderly people or patients facing difficulties while walking. However, most of them are designed only for flat…”
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An Ergo-Interactive Framework for Human-Robot Collaboration Via Learning From Demonstration by Liao, Zhiwei, Lorenzini, Marta, Leonori, Mattia, Zhao, Fei, Jiang, Gedong, Ajoudani, Arash

“…This work presents an ergonomic and interactive human-robot collaboration (HRC) framework, through which new collaborative skills are extracted from a one-shot…”
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Bi-Directional Human-Robot Handover Using a Novel Supernumerary Robotic System by Du, Yuwei, Zhang, Xin, Leonori, Mattia, Balatti, Pietro, Jin, Jing, Wang, Qiang, Ajoudani, Arash

“…Cooperative human-robot systems are the key technology to improve efficiency in agile production. In this work, a novel on-shoulder supernumerary robotic limb…”
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MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control by Leonori, Mattia, M. Gandarias, Juan, Ajoudani, Arash

“…Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact…”
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A Self-Tuning Impedance-Based Interaction Planner for Robotic Haptic Exploration by Kato, Yasuhiro, Balatti, Pietro, Gandarias, Juan M., Leonori, Mattia, Tsuji, Toshiaki, Ajoudani, Arash

“…This letter presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable…”
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Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration by Fortini, Luca, Leonori, Mattia, Gandarias, Juan M., De Momi, Elena, Ajoudani, Arash

“…Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC)…”
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Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing by Lamon, Edoardo, Leonori, Mattia, Kim, Wansoo, Ajoudani, Arash

“…In this paper, a novel human-robot collaborative framework for mixed case palletizing is presented. The framework addresses several challenges associated with…”
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A Human Motion Compensation Framework for a Supernumerary Robotic Arm by Zhang, Xin, Balatti, Pietro, Leonori, Mattia, Ajoudani, Arash

“…Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a…”
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MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control by Leonori, Mattia, Gandarias, Juan M, Ajoudani, Arash

“…Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact…”
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A Human Motion Compensation Framework for a Supernumerary Robotic Arm by Zhang, Xin, Balatti, Pietro, Leonori, Mattia, Ajoudani, Arash

“…Supernumerary robotic arms (SRAs) can be used as the third arm to complement and augment the abilities of human users. The user carrying a SRA forms a…”
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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning by Balatti, Pietro, Ozdamar, Idil, Sirintuna, Doganay, Fortini, Luca, Leonori, Mattia, Gandarias, Juan M., Ajoudani, Arash

“…This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system…”
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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning by Balatti, Pietro, Ozdamar, Idil, Sirintuna, Doganay, Fortini, Luca, Leonori, Mattia, Gandarias, Juan M, Ajoudani, Arash

“…This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system…”
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The Bridge between Xsens Motion-Capture and Robot Operating System (ROS): Enabling Robots with Online 3D Human Motion Tracking by Leonori, Mattia, Lorenzini, Marta, Fortini, Luca, Gandarias, Juan M, Ajoudani, Arash

“…This document introduces the bridge between the leading inertial motion-capture systems for 3D human tracking and the most used robotics software framework. 3D…”
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A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER) by Fortuna, Andrea, Lorenzini, Marta, Leonori, Mattia, Gandarias, Juan M., Balatti, Pietro, Cho, Younggeol, De Momi, Elena, Ajoudani, Arash

“…Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either…”
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Markerless 3D human pose tracking through multiple cameras and AI: Enabling high accuracy, robustness, and real-time performance by Fortini, Luca, Leonori, Mattia, Gandarias, Juan M, de Momi, Elena, Ajoudani, Arash

“…Tracking 3D human motion in real-time is crucial for numerous applications across many fields. Traditional approaches involve attaching artificial fiducial…”
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Open-VICO: An Open-Source Gazebo Toolkit for Vision-based Skeleton Tracking in Human-Robot Collaboration by Fortini, Luca, Leonori, Mattia, Gandarias, Juan M, De Momi, Elena, Ajoudani, Arash

“…Simulation tools are essential for robotics research, especially for those domains in which safety is crucial, such as Human-Robot Collaboration (HRC)…”
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