Search Results - "Pierallini, Michele"

A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances by Pierallini, Michele, Angelini, Franco, Mengacci, Riccardo, Palleschi, Alessandro, Bicchi, Antonio, Garabini, Manolo

“…In this paper, we study the trajectory tracking problem using iterative learning control for continuous-time nonlinear systems with a generic fixed relative…”
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Dynamic Coupling for Underactuated Compliant Arms With Not Well-Defined Relative Degree by Pierallini, Michele, Angelini, Franco, Garabini, Manolo

“…Soft robots are deformable, compliant, and underactuated systems. During any task, due to their enormous capability of body deformation, the relative degree…”
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Optimal Control for Articulated Soft Robots by Chhatoi, Saroj Prasad, Pierallini, Michele, Angelini, Franco, Mastalli, Carlos, Garabini, Manolo

“…Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing…”
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Assessing an Energy-Based Control for the Soft Inverted Pendulum in Hamiltonian Form by Pagnanelli, Giulia, Pierallini, Michele, Angelini, Franco, Bicchi, Antonio

“…Thanks to their continuously deformable structure, continuum soft robots are suited for safe human-robot interactions. However, the executable tasks are still…”
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Iterative Learning Control for Compliant Underactuated Arms by Pierallini, Michele, Angelini, Franco, Mengacci, Riccardo, Palleschi, Alessandro, Bicchi, Antonio, Garabini, Manolo

“…Operations involving safe interactions in unstructured environments require robots with adapting behaviors. Compliant manipulators are a promising technology…”
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Model and Control of R-Soft Inverted Pendulum by Caradonna, Daniele, Pierallini, Michele, Santina, Cosimo Della, Angelini, Franco, Bicchi, Antonio

“…Soft robots enable safe and robust operations in unstructured environments. However, the nonlinearities of their continuum structure complicate the…”
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Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control by Pierallini, Michele, Angelini, Franco, Bicchi, Antonio, Garabini, Manolo

“…The swing-up is a classical problem of control theory that has already been widely studied in the literature. Despite that, swinging up an underactuated…”
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ULTRASOUND IN VITRECTOMY: An Alternative Approach to Traditional Vitrectomy Techniques by Rizzo, Stanislao, Fantoni, Gualtiero, Mucciolo, Dario Pasquale, Giorni, Andrea, Volpi, Lorenzo, Pierallini, Michele, Mazzoni, Andrea, Faraldi, Francesco

“…To study a prototype of an ultrasound-based vitrector, and to try to understand the physical phenomena underlying this new technology. We tested the…”
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A Provably Stable Iterative Learning Controller for Continuum Soft Robots by Pierallini, Michele, Stella, Francesco, Angelini, Franco, Deutschmann, Bastian, Hughes, Josie, Bicchi, Antonio, Garabini, Manolo, Santina, Cosimo Della

“…Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources…”
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Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control by Pierallini, Michele, Angelini, Franco, Mengacci, Riccardo, Palleschi, Alessandro, Bicchi, Antonio, Garabini, Manolo

“…Trajectory tracking of flexible link robots is a classical control problem. Historically, the link elasticity was considered as something to be removed. Hence,…”
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Towards an Autonomous Unwrapping System for Intralogistics by Gabellieri, Chiara, Magnusson, Martin, Garabini, Manolo, Pallottino, Lucia, Palleschi, Alessandro, Mannucci, Anna, Pierallini, Michele, Stefanini, Elisa, Catalano, Manuel G., Caporale, Danilo, Settimi, Alessandro, Stoyanov, Todor

“…Warehouse logistics is a rapidly growing market for robots. However, one key procedure that has not received much attention is the unwrapping of pallets to…”
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Optimal Control for Articulated Soft Robots by Chhatoi, Saroj Prasad, Pierallini, Michele, Angelini, Franco, Mastalli, Carlos, Garabini, Manolo

“…Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing…”
Get full text