Robotics Laboratory
Home page
Research activities
The DIS Robotics Laboratory,
established in 1987, is committed to the
development and experimental
validation of advanced planning and
control techniques for industrial
and service robots. Both graduate and
undergraduate students carry
out their final projects in the lab. The
research experience of our
group covers modeling, planning and control
of: robots with flexible
elements, mobile robots, nonholonomic
mechanical systems,
kinematically redundant robots, underactuated
manipulators, and
robots in contact with the environment. The
adopted techniques
include nonlinear control, iterative learning
control, hybrid
force-motion control, optimization algorithms,
probabilistic
planners, graph-search methods, optimal control,
fuzzy logic
and evidential reasoning, filtering and estimation theory,
sensor
fusion.
Members of the group
Selected papers
A. De Luca, B. Siciliano, L.
Zollo, "PD control with on-line gravity
compensation for robots with
elastic joints: Theory and experiments,''
to appear in Automatica,
2005.
G. Oriolo, M. Vendittelli, "A framework for the
stabilization of
general nonholonomic systems with an application to
the plate-ball
mechanism," IEEE Transactions on Robotics, vol. 21,
no. 2, pp. 162-175,
2005.
A. De Luca, R. Farina, P.
Lucibello, "On the control of robots with
visco-elastic joints," 2005
IEEE International Conference on Robotics
and Automation, Barcelona,
E, pp. 4308-4313, 2005.
L. Freda, G. Oriolo, "Frontier-based
probabilistic strategies for
sensor-based exploration,'" 2005 IEEE
International Conference on
Robotics and Automation, Barcelona, E,
pp. 3892-3898, 2005.
M. Benosman, G. Le Vey, L. Lanari, A.
De Luca, "Rest to rest motion for
planar multi-link flexible
manipulators through backward recursion,"
ASME Journal of Dynamic
Systems, Measurements, and Control, vol. 126,
no. 1, pp. 115-123,
2004.
M. Vendittelli, G. Oriolo, F. Jean, J.-P. Laumond,
"Nonhomogeneous
nilpotent approximations for nonholonomic systems
with singularities,"
IEEE Transactions on Automatic Control, vol. 49,
no. 2, pp. 261-266,
2004.
A. De Luca, R. Farina, "Dynamic
properties and nonlinear control of
robots with mixed rigid/elastic
joints," 2004 International Symposium
on Robotics and Automation,
Seville, E, 2004.
A. De Luca, R. Mattone, "An
adapt-and-detect actuator FDI scheme for
robot manipulators,'' 2004
IEEE International Conference on Robotics
andAutomation, New Orleans,
LA, pp. 4975-4980, 2004.
G. L. Mariottini, D. Prattichizzo,
G. Oriolo, "Epipole-based visual
servoing for nonholonomic mobile
robots," 2004 IEEE International
Conference on Robotics and
Automation, New Orleans, LA, pp. 497-503,
2004.
G. Oriolo,
M. Vendittelli, L. Freda, G. Troso, "The SRT method:
Randomized
strategies for exploration," 2004 IEEE International
Conference on
Robotics and Automation, New Orleans, LA, pp. 4688-4694,
2004.
S. Iannitti, A. De Luca, "Dynamic feedback control of XYnR
planar
robots with n rotational passive joints,'' Journal of Robotic
Systems,
vol. 20, no. 5, pp. 251-270, 2003.
A. De Luca, V.
Caiano, D. Del Vescovo, "Experiments on rest-to-rest
motion of a
flexible arm,'' in B. Siciliano, P. Dario (Eds.),
Experimental
Robotics VIII, Springer Tracts in Advanced Robotics, vol.
5, pp.
338-349, Springer, Berlin, 2003.
G. Oriolo, M.
Vendittelli, A. Marigo, A. Bicchi, "From nominal to
robust planning:
The plate-ball manipulation system," 2003 IEEE
International
Conference on Robotics and Automation, Taipei, TW, pp.
3175-3180,
2003.
Ongoing research projects
Our
current research projects (follow the link from our home page
above
for a detailed description) include the following topics:
planning and
control for nonholonomic robots, sensor-based navigation
for mobile
robots, probabilistic motion planning, visual servoing,
modeling and
control for flexible robots, robot learning control,
planning and
control of redundant manipulators, planning and control
of
underactuated manipulators, automation and service
robotics.
Cooperation with other
research groups
Within our Department, we collaborate with the
Artificial
Intelligence Group in the RoboCup activity. Other research
institutions
with which we cooperate (or have cooperated)
include:
DIA-Università di Roma Tre (Roma, Italy), Centro "E.
Piaggio"
(Pisa, Italy), DIS-Università di Napoli Federico II
(Napoli,
Italy), LAAS-CNRS (Toulouse, France), ENSTA (Paris,
France),
Università di Siena (Siena, Italy), University of
Tokyo (Tokyo,
Japan), Fraunhofer-IPA (Stuttgart,
Germany).
