Publications
of Alessandro
De Luca
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Journals
(with abstracts)
Edited books
Book chapters
Conferences
Journals
[J-39] A. De Luca, R. Mattone, P. Robuffo Giordano, H. Ulbrich, M. Schwaiger, M. Van den Bergh, E. Koller-Meier, L. Van Gool, "Motion control of the CyberCarpet platform," IEEE Transactions on Control Systems Technology, accepted as regular paper in Dec 2011, on-line from 6 Feb 2012 (pdf) [multimedia].
The
CyberCarpet is an actuated platform that allows unconstrained
locomotion of a walking user for Virtual Reality exploration. The
platform consists of a linear treadmill covered by a ball-array carpet
and mounted on a turntable, and is equipped with two actuating devices
for linear and angular motion. The main control objective is to keep
the walker close to the platform center in the most natural way,
counteracting his/her voluntary motion while satisfying perceptual
constraints. The motion control problem for this platform is not
trivial since the system kinematics is subject to a nonholonomic
constraint. In the first part of the paper we describe the kinematic
control design devised within the CyberWalk project, where the linear
and angular platform velocities are used as input commands and feedback
is based only on walker’s position measurements obtained by an external
visual tracking system. In particular, we present a globally
stabilizing control scheme that combines a feedback and a feedforward
action, based on a disturbance observer of the walker’s intentional
velocity. We also discuss possible extensions to acceleration-level
control and the related assessment of dynamic issues affecting a walker
during his/her motion. The second part of the paper is devoted to the
actual implementation of the overall system. As a proof of concept of a
final full-scale platform, the mechanical design and realization of a
small-scale prototype of the CyberCarpet is presented, as well as the
visual localization method used to obtain the human walker’s position
on the platform by an overhead camera. To validate the proposed motion
control design, experimental results are reported and discussed for a
series of motion tasks performed using a small tracked vehicle
representative of a moving user. DOI:10.1109/TCST.2012.2185051
[J-38] J. Souman, P. Robuffo Giordano, M. Schwaiger, I. Frissen, T. Thümmel, H. Ulbrich, A. De Luca, H. Bülthoff, M.
Ernst, "CyberWalk: Enabling unconstrained omnidirectional walking through virtual environments," ACM Transactions on Applied
Perception, vol. 8, no. 4, pp. 24:1-24:22, Oct.-Nov. 2011 (pdf), with on-line Appendix.
Despite
many recent developments in Virtual Reality, an effective locomotion
interface which allows for normal walking through large virtual
environments was still lacking until recently. Here, we describe the
new CyberWalk omnidirectional treadmill system, which makes it possible
for users to walk endlessly in any direction, while never leaving the
confines of the limited walking surface. The treadmill system improves
on previous designs, both in its mechanical features and in the control
system employed to keep users close to the centre of the treadmill. As
a result, users are able to start walking, vary their walking speed and
direction, and stop walking like they would on a normal, stationary
surface. The treadmill system was validated in two experiments, in
which both the walking behaviour and the performance in a basic spatial
updating task were compared to that during normal overground walking.
The results suggest that walking on the CyberWalk treadmill is very
close to normal walking, especially after some initial familiarization.
Moreover, we did not find a detrimental effect of treadmill walking in
the spatial updating task. The CyberWalk system constitutes a
significant step forward to bringing the real world into the laboratory
or workplace. DOI:10.1145/2043603.2043607
[J-37] J. Souman, P. Robuffo Giordano, I. Frissen, A. De Luca, M.
Ernst, "Making virtual
walking real: Perceptual evaluation of a new treadmill control algorithm," ACM Transactions on Applied
Perception, vol. 7, no. 2, pp. 11:1-11:14, 2010 (pdf).
For
us humans, our most natural way of moving through the world is walking.
One of the major challenges in present research on navigation in
virtual reality is to enable users to physically walk through virtual
environments. Although treadmills in principle allow users to walk for
extended periods of time through large virtual environments, existing
setups largely fail to produce a truly immersive sense of navigation.
Partially, this is because of inadequate control of treadmill speed as
a function of walking behaviour. Here, we present a new control
algorithm that allows users to walk naturally on a treadmill, including
starting to walk from standstill, stopping, and varying walking speed.
The treadmill speed control consists of a feedback loop based on the
measured user position relative to a given reference position, plus a
feed-forward term based on on-line estimation of the user’s walking
velocity. The purpose of this design is to make the treadmill
compensate fully for any persistent walker motion, while keeping the
accelerations exerted on the user as low as possible. We evaluated the
performance of the algorithm by conducting a behavioural experiment in
which we varied its most important parameters. Participants walked at
normal walking speed and then, on an auditory cue, abruptly stopped.
After being brought back to the centre of the treadmill by the control
algorithm, they rated how smoothly the treadmill had changed its
velocity in response to the change in walking speed. Ratings in general
were quite high, indicating good control performance. Moreover, ratings
clearly depended on the control algorithm parameters that were varied.
Ratings were especially affected by the way the treadmill reversed its
direction of motion. In conclusion, controlling treadmill speed in such
a way that changes in treadmill speed are unobtrusive and do not
disturb VR immersiveness is feasible on a normal treadmill with a
straightforward control algorithm. DOI:10.1145/1670671.1670675
[J-36]
A. De Luca, G. Oriolo, P. Robuffo Giordano, "Feature depth observation for
image-based visual servoing: Theory and experiments,"
The
International Journal of Robotics Research, vol.
27, no. 10, pp. 1093-1116, 2008
(pdf) [multimedia].
In the classical image-based visual servoing framework, error
signals are directly computed from image feature parameters, allowing
in principle to obtain control schemes that need neither a complete 3D
model of the scene, nor a perfect camera calibration. However, when the
computation of control signals involves the interaction matrix, the
current value of some 3D parameters is required for each considered
feature, and typically a rough approximation of this value is used.
With reference to the case of a point feature, for which the relevant
3D parameter is the depth Z, we propose a visual servoing
approach
where Z is observed and made available for servoing. This is
achieved by interpreting depth as an unmeasurable state with known
dynamics, and by building a nonlinear observer that asymptotically
recovers the actual value of Z for the selected feature. A
byproduct of our analysis is the rigorous characterization of camera
motions that actually allow such observation. Moreover, in the case of
a partially uncalibrated camera, it is possible to exploit
complementary camera motions in order to preliminarily estimate the
focal length without knowing Z. Simulation and experimental
results are presented for a mobile robot with an on-board camera in
order to illustrate the benefits of integrating the depth observation
within classical visual servoing schemes.
DOI:10.1177/0278364908096706
[J-35]
A.
De Santis, B. Siciliano, A. De Luca, A. Bicchi, "An atlas of physical
human-robot interaction," Mechanism
and Machine Theory, vol. 43, no. 3, pp. 253–270,
2008 (pdf).
A
broad spectrum of issues have to be addressed in order to tackle the
problem of a safe and dependable physical Human–Robot Interaction
(pHRI). In the immediate future, metrics related to safety and
dependability have to be found in order to successfully introduce
robots in everyday enviornments. While there are certainly also
"cognitive’" issues involved, due to the human perception of the robot
(and vice versa), and other objective metrics related to fault
detection and isolation, our discussion focuses on the peculiar aspects
of "physical" interaction with robots. In particular, safety and
dependability are the underlying evaluation criteria for mechanical
design, actuation, and control architectures. Mechanical and control
issues are discussed with emphasis on techniques that provide safety in
an intrinsic way or by means of control components. Attention is
devoted to dependability, mainly related to sensors, control
architectures, and fault handling and tolerance. Suggestions are
provided to draft metrics for evaluating safety and dependability in
pHRI, and references to the works of the scientific groups involved in
the pHRI research complete the study. The present atlas is a result of
the EURON perspective research project ‘‘Physical Human–Robot
Interaction in anthropic DOMains (PHRIDOM)’’, aimed at charting the new
territory of pHRI, and constitutes the scientific basis for the ongoing
STReP project ‘‘Physical Human–Robot Interaction: depENDability and
Safety (PHRIENDS)’’, aimed at developing key components for the next
generation of robots, designed to share their environment with people. DOI:10.1016/j.mechmachtheory.2007.03.003
[J-34]
A. De Luca, G. Oriolo, P. Robuffo Giordano, "Image-based visual servoing
schemes for nonholonomic mobile manipulators," Robotica,
vol. 25, no. 2, pp. 129-145, 2007 (pdf).
We consider the task-oriented modeling of the differential
kinematics of nonholonomic mobile manipulators (NMMs). A suitable NMM
Jacobian is defined that relates the available input commands to the
time derivative of the task variables, and can be used to formulate and
solve kinematic control problems. When the NMM is redundant with
respect to the given task, we provide an extension of two well-known
redundancy resolution methods for fixed-base manipulators (Projected
Gradient and Task Priority) and introduce a novel technique (Task
Sequencing) aimed at improving performance, e.g., avoiding
singularities. The proposed methods are applied then to the specific
case of image-based visual servoing, where the NMM image
Jacobian
combines the interaction matrix and the kinematic model of the mobile
manipulator. Comparative numerical results are presented for two case
studies. DOI:10.1017/S0263574706003262
[J-33]
R.
Mattone, A. De Luca, "Nonlinear
fault detection and isolation in a three-tank heating system,"
IEEE
Transactions on Control Systems Technology, vol.
14, no. 6, pp. 1158-1166, 2006 (pdf).
We consider the fault detection and isolation (FDI) problem for a
nonlinear dynamic plant (the IFATIS Heating System Benchmark) affected
by actuator and/or sensor faults. A general procedure is proposed for
modeling faults of sensors that measure the state of a nonlinear
system, so that each sensor fault is typically associated to a set of
(always concurrent) fault inputs and the resulting dynamic equations
are affine in the introduced fault inputs. This allows the application
of recently developed nonlinear FDI techniques, slightly extended to
cover the considered model structure. For the presented case study,
assuming nonconcurrency of the faults in the hardware components, we
describe in detail the modeling procedure, the synthesis of residual
generators, and the design of a combinatorial logics that recovers
perfect isolation. Simulation results are reported in the presence of
input and measurement noise. DOI:10.1109/TCST.2006.880221
[J-32]
R.
Mattone, A. De Luca, "Relaxed
fault detection and isolation: An application to a nonlinear case study,"
Automatica, vol.
42, no. 1, pp. 109-116, 2006 (pdf).
Given a number of possibly concurrent faults (and disturbances) that
may affect a nonlinear dynamic system, it may not be possible to solve
the standard fault detection and isolation (FDI) problem, i.e., to
detect and isolate each single fault from all other, possibly
concurrent faults and disturbances, due to the violation of the
available necessary conditions of geometric nature. Motivated by a
robotic application where this negative situation structurally occurs,
we propose some relaxed formulations of the FDI problem and show how
necessary and sufficient conditions for their solution can be derived
from those available for standard FDI. The design of a hybrid residual
generator follows directly from the fulfillment of the corresponding
solvability conditions. In the considered nonlinear case study, a
robotic system affected by possible actuator and/or force sensor
faults, we detail the application of these results and present
experimental tests for validation. DOI:10.1016/j.automatica.2005.08.018
[J-31]
A.
De Luca, B. Siciliano, L. Zollo, "PD
control with on-line gravity compensation for robots with elastic
joints: Theory and experiments," Automatica,
vol. 41, no. 10, pp. 1809-1819, 2005 (pdf).
A proportional-derivative (PD) control with on-line gravity
compensation is proposed for regulation tasks of robot manipulators
with elastic joints. The work extends a previous PD control with
constant gravity compensation at the desired configuration. The control
law requires measuring only position and velocity on the motor side of
the elastic joints, while the on-line gravity compensation torque uses
a biased measure of the motor position. It is proved via a Lyapunov
argument that the control law globally asymptotically stabilizes the
desired robot configuration. A simulation study on a two-joint arm
reveals the better performance that can be obtained with the new scheme
as compared to the case of constant gravity compensation. Moreover, the
proposed controller is experimentally tested on an eight-joint
cable-driven robot manipulator, in combination with a point-to-point
interpolating trajectory, showing the practical advantages of the
on-line compensation. DOI:10.1016/j.automatica.2005.05.009
[J-30]
L. Zollo, B. Siciliano, A. De
Luca, E. Guglielmelli, P. Dario, "Compliance
control for an anthropomorphic robot with elastic joints: Theory and
experiments," ASME
Transactions: Journal of Dynamic Systems, Measurements, and Control,
vol. 127, no. 3, pp. 321-328, 2005 (pdf).
Studies
on motion control of robot manipulators with elastic joints are
basically aimed at improving robot performance in tracking or
regulation tasks. In the interaction between robots and environment,
instead, the main objective of a control strategy should be the
reduction of the vibrational and chattering phenomena that elasticity
in the robot joints can cause. This work takes into account working
environments where unexpected interactions are experienced and proposes
a compliance control scheme in the Cartesian space to reduce the
counter effects of elasticity. Two theoretical formulations of the
control law are presented, which differ for the term of gravity
compensation. For both of them the closed-loop equilibrium conditions
are evaluated and asymptotic stability is proven through the direct
Lyapunov method. The two control laws are applied to a particular class
of elastic robot manipulators, i.e., cable-actuated robots, since their
intrinsic mechanical compliance can be successfully utilized in
applications of biomedical robotics and assistive robotics. A compared
experimental analysis of the two formulations of compliance control is
finally carried out in order to verify stability of the two closed-loop
systems as well as the capability to control the robot force in the
interaction. DOI:10.1115/1.1978911
[J-29]
M. Benosman, G. Le Vey, L.
Lanari, A. De Luca, "Rest
to rest motion for planar multi-link flexible manipulators through
backward recursion," ASME
Transactions: Journal of Dynamic Systems, Measurements, and Control,
vol. 126, no. 1, pp. 115-123, 2004 (pdf).
In
this work is considered the problem of rest-to-rest motion in a desired
pre-fixed time for planar flexible manipulators. We introduce a simple
idea permitting the minimization of end-effector residual vibration
when reaching a desired angular equilibrium position, in a pre-fixed
desired travelling time. The results hold without considering internal
elastic damping effect, using a classical controller with feedforward
plus joint feedback terms. The new approach concerns the computation of
the feedforward control, which is based on backward integration of the
elastic dynamics, starting from a rest position of the flexible arms.
This backward integration yields basically elastic trajectories
permitting to reach the final desired end-effector position without
oscillation. The feedback controller is then used to stabilize locally
the actual states along these desired trajectories. However, for fast
rest to rest motion, the feedback compensator fails to drive the system
states along the desired trajectories, this being due to the relatively
large initial elastic error. To overcome this limitation, proper joint
motion is planned between the desired initial and final positions
through optimization techniques, the goal being the minimization of the
initial elastic error associated to these joint trajectories. The
optimal planning technique is formulated as a Pontryagin optimal
control problem. This scheme is validated via numerical tests as well
as experiments on a flexible two-link planar manipulator. DOI:10.1115/1.1649976
[J-28]
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 (pdf).
We
consider the problem of trajectory planning and control for an XYnR
planar robot with the first two joints (rotational or prismatic)
actuated and n rotational passive joints, moving both in the presence
and the absence of gravity. Under the assumption that each passive link
is attached at the center of percussion of the previous passive link,
dynamics of the system can be expressed through the behavior of n
special points of the plane. These points are called link-related
acceleration points (LRAP) since their instantaneous acceleration is
oriented as the axis of the related passive links. Moreover, LRAP
dynamics present a backward recursive form which can be exploited to
recursively design a dynamic feedback that completely linearizes the
system equations. We use this approach to solve trajectory planning and
tracking problems and report simulation results obtained for an RR2R
robot having the first two rotational joints actuated. DOI:10.1002/rob.10085
[J-27]
A.
De Luca, S. Iannitti, R. Mattone, G.
Oriolo, "Underactuated
manipulators: Control properties and techniques," Machine Intelligence and Robotic
Control, vol. 4, no. 3, pp. 113-125, 2002 (pdf
of final submission).
We
consider planning and control problems for underactuated manipulators,
a special instance of mechanical systems having fewer input commands
than degrees of freedom. This class includes robots with passive
joints, elastic joints, or flexible links. Structural control
properties are investigated, showing that manipulators with passive
joints in the absence of gravity are the most difficult to control.
With reference to these, solutions are proposed for the typical
problems of trajectory planning, trajectory tracking, and set-point
stabilization. The relevance of nonlinear control techniques such as
dynamic feedback linearization and iterative steering is clarified
through illustrative examples. [No DOI]
[J-26]
G.
Oriolo, A. De Luca, M. Vendittelli, "WMR
control via dynamic
feedback linearization: Design, implementation and experimental
validation," IEEE
Transactions on
Control Systems Technology, vol. 10,
no. 6, pp. 835-852, 2002 (pdf).
The subject of this paper is the motion control problem of wheeled
mobile robots (WMRs) in environments without obstacles. With reference
to the popular unicycle kinematics, it is shown that dynamic feedback
linearization is an efficient design tool leading to a solution
simultaneously valid for both trajectory tracking and set-point
regulation problems. The implementation of this approach on the
laboratory prototype SuperMARIO, a two-wheel differentially-driven
mobile robot, is described in detail. To assess the quality of the
proposed controller, we compare its performance with that of several
existing control techniques in a number of experiments. The obtained
results provide useful guidelines for WMR control designers. DOI:10.1109/TCST.2002.804116
[J-25]
A.
De Luca, G. Oriolo, "Trajectory
planning
and control for
planar robots with passive last joint," The
International Journal of
Robotics Research, vol. 21, no. 5-6, pp.
575-590, 2002 (pdf).
We present a method for trajectory planning and control of planar
robots with a passive rotational last joint. These underactuated
mechanical systems, which are subject to nonholonomic second-order
constraints, are shown to be fully linearized and input-output
decoupled by means of a nonlinear dynamic feedback. This objective is
achieved in a unified framework, both in the presence or absence of
gravity. The linearizing output is the position of the center of
percussion of the last link. Based on this result, one can plan smooth
trajectories joining in finite time any initial and desired final state
of the robot; in particular, transfers between inverted equilibria and
swing-up maneuvers under gravity are easily obtained. We also address
the problem of avoiding the singularity induced by the dynamic
linearization procedure through a careful choice of output
trajectories. A byproduct of the proposed method is the straightforward
design of exponentially stable tracking controllers for the generated
trajectories. Simulation results are reported for a 3R robot moving in
a horizontal and vertical plane. Possible extensions of the approach
and its relationships with the differential flatness technique are
briefly discussed. DOI:10.1177/027836402321261940
[J-24]
A.
De Luca, G. Oriolo, "Comments
on 'Adaptive Variable Structure
Set-Point Control of Underactuated Robots'," IEEE
Transactions on
Automatic Control, vol. 46, no. 5, pp. 809-811,
2001 (pdf).
In this note, we point out the fallacies of a recent paper concerning
the stabilization of underactuated robots. DOI:10.1109/9.920807
[J-23]
A.
De Luca, R. Mattone, G. Oriolo,
"Stabilization of an
underactuated planar 2R manipulator," International
Journal of Robust
and Nonlinear Control, vol. 10, no. 4, pp.
181-198, 2000 (pdf).
We describe a technique for the stabilization of a 2R robot moving in
the horizontal plane with a single actuator at the base, an interesting
example of underactuated mechanical system that is not smoothly
stabilizable. The proposed method is based on a recently introduced
iterative steering paradigm, which prescribes the repeated application
of an error contracting open-loop control law. In order to compute
efficiently such a law, the dynamic equations of the robot are
transformed via partial feedback linearization and nilpotent
approximation. Simulation and experimental results are presented for a
laboratory prototype. DOI:10.1002/(SICI)1099-1239(20000415)10:4<181::AID-RNC471>3.0.CO;2-X
[J-22]
A. De Luca, "Decoupling and feedback
linearization of robots with mixed rigid/elastic joints," International Journal of Robust and
Nonlinear Control (Special Issue
on Twenty Years of Feedback Linearization of Nonlinear
Systems), vol. 8, no. 11, pp. 965-977, 1998 (pdf).
We
consider some theoretical aspects of the control problem for rigid link
robots having some joints rigid and some with non-negligible
elasticity. We start from the reduced model of robots with all joints
elastic introduced by Spong, which is linearizable by static feedback.
For the mixed rigid/elastic joint case, we give structural necessary
and sufficient conditions for input-output decoupling and full-state
linearization via static state feedback. These turn out to be very
restrictive. However, when a robot fails to satisfy these conditions,
we show that a physically motivated dynamic state feedback will always
guarantee the same result. The analysis is performed without resorting
to the state-space equation format. As a result, the explicit form of
the exact linearizing and input-output decoupling controllers is
provided directly in terms of the robot dynamic model terms. DOI:10.1002/(SICI)1099-1239(199809)8:11<965::AID-RNC371>3.0.CO;2-4
[J-21]
A.
De Luca, R. Mattone, G. Oriolo,
"Steering a class of
redundant
mechanisms through end-effector generalized forces," IEEE
Transactions
on Robotics and Automation, vol. 14, no. 2, pp.
329-335, 1998 (pdf).
A
particular class of underactuated systems is obtained by considering
kinematically redundant manipulators for which all joints are passive
and the only available inputs are forces/torques acting on the
end-effector. Under the assumption that the degree of redundancy is
provided by prismatic joints located at the base, we address the
problem of steering the robot between two arbitrary equilibrium
configurations. By performing a preliminary partial feedback
linearization, the dynamic
equations take a convenient triangular
form, which is further simplified under additional hypotheses. We give
sufficient conditions for controllability of this kind of mechanisms.
With a PPR robot as a case study, an algorithm is proposed for
computing end-effector commands that produce the desired
reconfiguration in finite time. Simulation results and a discussion on
possible generalizations are given. DOI:10.1109/70.681252
[J-20]
A.
De Luca, G. Oriolo, "Nonholonomic
behavior in redundant robots
under kinematic control," IEEE Transactions on Robotics and
Automation, vol. 13, no. 5, pp. 776-782, 1997 (pdf).
We
analyze the behavior of redundant robots when the joint motion is
generated by inverting task velocity commands through a kinematic
control scheme. Depending on the chosen inversion scheme, the robot
motion is subject to differential constraints that may or may not be
integrable. Accordingly, we give a classification in terms of
holonomic, partially nonholonomic, and completely nonholonomic
behavior, pointing out also the relationship with the so-called
cyclicity property. This general classification is illustrated by means
of several examples. When the kinematic control scheme is nonholonomic,
the whole configuration space of the robot is accessible by a proper
choice of the task input commands. Under this assumption, we address
the joint reconfiguration problem, namely the design of end-effector
velocity commands that drive the robot to a desired joint
configuration. To solve this problem, it is possible to borrow existing
methods for motion planning of nonholonomic mechanical systems, such as
the sinusoidal steering technique for chained form systems. DOI:10.1109/70.631239
[J-19]
A.
De Luca, R.Mattone, G.Oriolo, "Control
of redundant robots
under end-effector commands: A case study in underactuated systems,"
Applied Mathematics and Computer
Science, vol. 7, no. 2, pp. 225-251,
1997 (pdf
of final submission).
We
analyze the control problem for a kinematically redundant robot driven
by forces/torques imposed on the end-effector, an interesting example
of underactuated system. A convenient format for the dynamic equations
of this mechanism can be obtained via partial feedback linearization.
In particular, we point out the existence of two special forms in which
the system can be put under suitable assumptions, namely the
second-order triangular and Caplygin forms. Nonlinear controllability
tools are utilized to derive conditions under which it is possible to
steer the robot between two given configurations using end-effector
commands. With a PPR robot as a case study, a steering algorithm is
proposed that achieves reconfiguration in finite time. Simulation
results and a discussion on possible generalizations are
presented. [No DOI]
[J-18]
A.
De Luca, G. Oriolo, "Reconfiguration
of
redundant robots under
kinematic inversion," Advanced
Robotics, vol. 10, n. 3, pp. 249-263,
1996 (pdf).
We
consider the problem of reconfiguring the joints of a redundant robot
driven only through end-effector velocity commands. Depending on the
chosen kinematic inversion scheme, this system behavior is subject to
differential constraints that may be integrable or not. An analogy is
established with non-holonomic systems, allowing the use of existing
techniques to design cartesian inputs that bring the robot to the
desired configuration. Two different control approaches are presented
for a robot with a single degree of redundancy, based on the holonomy
angle concept and on sinusoidal steering of chained-form systems.
Simulation results are reported and generalizations are briefly
discussed. DOI:10.1163/156855395X00382
[J-17]
A. De Luca, S. Panzieri, "End-effector regulation of robots
with elastic elements by an iterative scheme," International Journal of
Adaptive Control and Signal Processing, vol. 10,
no. 4/5, pp. 379-393, 1996 (pdf).
The
regulation of motor variable positions in robots with elastic elements
has been solved using PD linear controllers in the absence of gravity
and with the addition of a-model-based feedforward term when gravity is
present. When the mass of the links is not known, an iterative learning
scheme can be derived to obtain the same result for both joint
elasticity and link flexibility. An extension to end-effector
regulation with a similar two-stage and hence time-consuming scheme has
been proposed. In this paper we show the feasibility of a new iterative
one-stage scheme able to directly regulate the end-effector position in
robots with joint elasticity and in robots whose distributed
flexibility is limited for each link to the plane orthogonal to the
associated motor axis. Experimental results are included to show the
improved rate of convergence of the proposed scheme applied to a
two-link flexible robot available in our laboratory. DOI:10.1002/(SICI)1099-1115(199607)10:4/5<379::AID-ACS369>3.0.CO;2-O
[J-16]
A. De Luca, C. Manes, "Modeling robots in contact with a
dynamic environment," IEEE
Transactions on Robotics and Automation, vol.
10, no. 4, pp. 542-548, 1994 (pdf).
A
control-oriented modeling approach for describing kinematics and
dynamics of robots in contact with a dynamic environment is presented.
In many robotic tasks the manipulator in contact cannot be simply
modeled as a kinematically constrained system. Conversely, modeling of
robot-environment interactions through dynamic impedance may not fit
the task layout. A suitable model structure is proposed in this note
that handles the more general case in which purely kinematic
constraints on the robot end-effector live together with dynamic
interactions. Feasible end-effector configurations are parameterized
from the environment point of view, using a minimal set of coordinates.
Accordingly, a description is obtained also for admissible velocities
and contact forces. In particular, a force parameterization is chosen
so as to separate static reaction forces from active forces responsible
for energy transfer between robot and environment. The overall dynamics
of the coupled robot-environment system is obtained in a single
framework. The introduced modeling technique naturally leads to the
design of new hybrid control laws. DOI:10.1109/70.313104
[J-15]
A. De Luca, S. Panzieri, "An iterative scheme for learning
gravity compensation in flexible robot arms," Automatica,
vol. 30, no. 6, pp. 993-1002, 1994 (pdf).
Mimicking
the case of rigid robot arms, the set-point regulation problem for
manipulators with flexible links moving under gravity can be solved by
either model-based compensation or PID control. The former cannotb e
applied if an unknown payload is presentor when model parameters are
poorly estimated, while the latter requires fine and lengthy tuning of
gains in order to achieve good performance on the whole workspace.
Moreover, no global convergence proof has been yet given for PID
control of flexible robot arms. In this paper, a simple iterative
scheme is proposed for generating exact gravity compensation at the
desired set point, without the knowledge of rigid or flexible dynamic
model terms. The control law starts with a PD action on the error at
the joint level, updating at discrete instants an additional
feedforward term. Global convergence of the scheme is proved under a
mild condition on the proportional gain and a structural property on
the arm stiffness, which is usually satisfied in practice. The proposed
learning scheme is also extended to the direct control of the
end-effector (tip) position. Experimental results are presented for a
two-link robot with a flexible forearm moving on a tilted plane. DOI:10.1016/0005-1098(94)90192-9
[J-14]
A. De Luca, M.D. Di Benedetto,
"Control of nonholonomic
systems via dynamic compensation," Kybernetika,
vol. 29, no. 6, pp. 593-608, 1993 (pdf).
The
problem of controlling nonholonomic systems via dynamic state feedback
and its structural aspects are analyzed. Advantages and drawbacks with
respect to the use of static state feedback laws are discussed. In
particular, nonholonomic constraints are shown to yield possible
singularities in the dynamic extension process. Nevertheless, these
singularities can be avoided by the proper design of a discontinuous
external control law achieving stabilization of the transformed linear
system. This is illustrated through simulations for a car-like vehicle.
[No DOI]
[J-13]
A. De Luca, S. Panzieri, "Learning gravity compensation in
robots: Rigid arms, elastic joints, flexible links," International
Journal of Adaptive Control and Signal Processing,
vol. 7, no. 5, pp. 417-433, 1993 (pdf).
The
setpoint regulation problem for robotic manipulators is a basic task
that can be solved either by PID control or by model-based gravity
compensation. These approaches are commonly applied both to rigid arms
and to robots with flexible links and/or elastic joints. However, PID
control requires fine and lengthy tuning of gains in order to achieve
good performance over the whole workspace. Moreover, no global
convergence proof has yet been given for this control law in the case
of flexible links or elastic joints. On the other hand, a constant or
even a configuration-dependent gravity compensation is only an
approximate solution when an unknown payload is present or when model
parameters are poorly estimated. In this paper a simple iterative
scheme is proposed for generating exact gravity compensation at the
desired setpoint without the knowledge of dynamic model terms. The
resulting control law is shown to be global asymptotically stable for
rigid arms as well as for manipulators with elastic joints or flexible
links. Starting with a PD action on the error at the joint (i.e. motor)
level, an additional feedforward term is built and updated at discrete
instants. Convergence of the scheme is proved under a mild condition on
the proportional gain, related to a bound on the gravity terms. In the
presence of concentrated or distributed flexibility a structural
property of the joint or of the link stiffness is further required,
largely satisfied in practice. Simulation results are given for a
three-link rigid arm and experimental results are also presented for a
two-link robot with a flexible forearm. DOI:10.1002/acs.4480070510
[J-12]
A. De Luca, B. Siciliano, "Regulation of flexible arms under
gravity," IEEE
Transactions on Robotics and Automation, vol. 9,
no. 4, pp. 463-467, 1993 (pdf).
A
simple controller is presented for the regulation problem of robot arms
with flexible links under gravity. It consists of a joint PD feedback
plus a constant feedforward. Global asymptotic stability of the
reference equilibrium state is shown under a structural assumption
about link elasticity and a mild condition on the proportional gain.
The result holds also in the absence of internal damping of the
flexible arm. A numerical case study is presented. DOI:10.1109/70.246057
[J-11]
A. De Luca, B. Siciliano, "Inversion-based nonlinear control
of robot arms with flexible links," AIAA
Journal of Guidance, Control, and Dynamics, vol.
16, no. 6, pp. 1169-1176, 1993 (pdf).
The
design of inversion-based nonlinear control laws solving the problem of
accurate trajectory tracking for robot arms having flexible links is
considered. It is shown that smooth joint trajectories can always be
exactly reproduced preserving internal stability of the closed-loop
system. The interaction between the Lagrangian/assumed modes modeling
approach and the complexity of the resulting inversion control laws is
stressed. The adoption of clamped boundary conditions at the
actuation side of the flexible links allows considerable simplification
with respect to the case of pinned boundary conditions. The resulting
control is composed of a nonlinear state feedback compensation term and
of a linear feedback stabilization term. A feedforward strategy for the
nonlinear part is also investigated. Simulation results are presented
for a planar manipulator with two flexible links, displaying the
performance of the proposed controllers also in terms of end-effector
behavior. [No DOI]
[J-10]
A.
De Luca, G. Oriolo, B. Siciliano, "Robot
redundancy resolution
at the acceleration level," Laboratory
Robotics and Automation, vol. 4,
no. 2, pp. 97-106, 1992 (pdf).
We
present different methods for solving robot kinematic redundancy at the
acceleration level. Their features are discussed with respect to
velocity solution schemes and potential benefits are highlighted. The
following strategies are pursued: local optimization of objective
functions that depend on both position and velocity, task augmentation
with stable internal motion, and a second-order extended Jacobian
approach. The resulting solutions are critically compared in the light
of achieving enhanced task trajectory tracking performance with reduced
computational complexity. The numerical results obtained for a case
study with a planar arm validate the theoretical findings. [No DOI]
[J-9] A. De Luca, G. Paesano,
G.Ulivi, "A
frequency-domain approach to learning control: Implementation for a
robot manipulator," IEEE
Transactions on Industrial Electronics, vol. 39,
no. 1, pp. 1-10, 1992 (pdf).
A
frequency-domain approach to the analysis and design of learning
control laws for achieving a desired repetitive behavior in a dynamical
system is presented. The scheme uses two separate filters in order to
obtain rapid improvement in a specified bandwidth, while cutting off
possibly destabilizing dynamic effects that would bar learning
convergence. In this way the trade-off between global convergence
conditions and approximate learning of trajectories is made explicit.
The synthesis is presented for single-input, single-output (SISO)
linear systems, but the method is of general application. The proposed
learning controller has been used for exact tracking of repetitive
trajectories in robot manipulators. In particular, actuator inputs that
enable accurate reproduction of robot joint-space trajectories are
learned in a few iterations without the knowledge of the robot dynamic
model. Implementation aspects are discussed, and experimental results
are reported. DOI:10.1109/41.121905
[J-8] A. De Luca, B. Siciliano, "Closed-form dynamic model of
planar multi-link lightweight robots," IEEE
Transactions on Systems, Man, and Cybernetics,
vol. 21, no. 4, pp. 826-839, 1991 (pdf).
Closed-form
equations of motion are presented for planar lightweight robot arms
with multiple flexible links. The kinematic model is based on standard
frame transformation matrices describing both rigid rotation and
flexible displacement, under small deflection assumption. The
Lagrangian approach is used to derive the dynamic model of the
structure. Links are modeled as Euler-Bernoulli beams with proper
clamped-mass boundary conditions. The assumed modes method is adopted
in order to obtain a finite-dimensional model. Explicit equations of
motion are detailed for two-link case assuming two modes of vibration
for each link. The associated eigenvalue problem is discussed in
relation with the problem of time-varying mass boundary conditions for
the first link. The model is cast in a compact form that is linear with
respect to a suitable set of constant parameters. Extensive simulation
results that validate the theoretical derivation are included. DOI:10.1109/21.108300
[J-7] A.
De Luca, G. Oriolo, "The
reduced
gradient method for solving
redundancy in robot arms," Robotersysteme,
vol. 7, no. 2, pp. 117-122,
1991 (pdf).
An
efficient computational scheme for solving inverse kinematicc problems
in redundant robot arms is presented. When following a given
end-effector trajectory, successive internal arm configurations are in
general selected by local optimization of a given performance
criterion. Typically, joint displacements are derived using the
Projected Gradient method, involving pseudoinversion fo the robot
Jacobian and projection in its null-space. However, this technique is
computationally intensive. In this paper, an alternative approach is
proposed based on the Reduced Gradient method, which allows to deal
explicitly only with the reundant degrees of freedom. The superiority
of this technique for solving redundancy is illustrated analytically in
a simple case, and numerically by simulation of a four-link planar arm.
Optimization of various criteria like manipulability, available joint
range, and distance form obstacles is considered. Extensions of the
method are also briefly discussed. [No DOI]
[J-6] A.
De Luca, L. Lanari, G. Oriolo, "A
sensitivity approach to
optimal spline robot trajectories," Automatica,
vol. 27, no. 3, pp.
535-539, 1991 (pdf).
A
robot trajectory planning problem is considered. Using smooth
interpolating cubic splines as joint space trajectories, the path is
parameterized in terms of time intervals between knots. A minimum time
optimization problem is formulated under maximum torque and velocity
constraints, and is solved by means of a first order derivative-type
algorithm for semi-infinite nonlinear programming. Feasible directions
in the parameter space are generated using sensitivity coefficients of
the active constraints. Numerical simulations are reported for a
two-link Scara robot. The proposed approach can be used for optimizing
more general objective functions under different types of constraints. DOI:10.1016/0005-1098(91)90111-E
[J-5] A. De Luca, G. Ulivi, "Design of an exact nonlinear
controller for induction motors," IEEE
Transactions on Automatic Control, vol. 34, no.
12, pp. 1304-1307, 1989 (pdf).
A
novel approach to the control of induction motors is presented. The
approach is based on differential-geometric concepts for the control of
nonlinear systems. Structural properties of the model are pointed out,
and a proper selection of physically meaningful system outputs is
indicated which yields, by means of static state-feedback, exact state
linearization and input-output decoupling of the closed-loop system.
The approach is used to design a controller for motor torque and flux.
Simulation results are included. DOI:10.1109/9.40783
[J-4] A. De Luca, B. Siciliano, "Trajectory control of a
non-linear one-link flexible arm," International Journal of Control,
vol. 50, no. 5, pp. 1699-1715, 1989 (pdf).
The
trajectory-tracking control problem is considered for a one-link
flexible arm described by a non-linear model. Two meaningful system
outputs are chosen; namely, the joint angle and the angular position of
a suitable point along the link. The common goal is to stiffen the
behaviour of the flexible link with respect to the chosen output. Based
on the input-output inversion algorithm, a state-feedback control law
is designed that enables exact tracking of any smooth trajectory
specified for the output. In the closed loop an unobservable dynamics
naturally arises, related to the variables describing the arm's
distributed flexibility. Joint-based design is shown to be always
stable, whereas in the link-point design the closed-loop dynamics may
become unstable depending on the location of the output along the link.
Open- versus closed-loop strategies are developed and compared.
Extensive simulation results are included. DOI:10.1080/00207178908953460
[J-3] A. De Luca, P. Lucibello, G.
Ulivi, "Inversion
techniques for trajectory control of flexible robot arms,"
Journal of Robotic Systems,
vol. 6, no. 4, pp. 325-344, 1989 (pdf).
A
general framework is given for computing the torques that are needed
for moving a flexible arm exactly along a given trajectory. This torque
computation requires a dynamic generator system, as opposed to the
rigid case, and can be accomplished both in an open- or in a
closed-loop fashion. In the open-loop case, the dynamic generator is
the full or reduced order inverse system associated to the arm dynamics
and outputs. In order to successfully invert the arm dynamics, the
torque generator should be a stable system. The stability properties
depend on the chosen system output, that is on the robot variables
(e.g., joint or end-effector) to be controlled. The same inversion
technique can be applied for closed-loop trajectory control of flexible
robots. A simple but meaningful nonlinear dynamic model of a one-link
flexible arm is used to illustrate different feasible control
strategies. Simulation results are reported that display the effects of
the system output choice on the closed-loop stability and on the
overall tracking performance. DOI:10.1002/rob.4620060403
[J-2] P. Caravani, A. De Luca, "Aggregation in Sraffa's simple
production model," Journal of Economics,
vol. 47, no. 2, pp. 167-193, 1987 (pdf).
No abstract in this paper. DOI:10.1007/BF01237550
[J-1] A. De Luca, G. Di Pillo, "Exact augmented Lagrangian
approach to multilevel optimization of large-scale systems,"
International
Journal of Systems Science, vol. 18, no. 1, pp.
157-176, 1987 (pdf).
An
approach based on the exact augmented lagrangian function is developed
for the optimization of large-scale systems composed of interconnected
units. The decomposition and coordination strategies are examined and
various schemes of upper-level coordination are proposed, all of which
are formulated as unconstrained quadratic minimization problems.
Convergence analysis is performed exploiting an analogy with
minimization by relaxation methods. Numerical examples are reported. DOI:10.1080/00207728708963956
Edited books
[E-1] B. Siciliano, A. De Luca, C. Melchiorri, G. Casalino (Eds.), "Advances in Control of
Articulated and Mobile Robots," Springer Tracts in Advanced
Robotics, vol. 10, Springer Verlag, Berlin, 2004 (front matter pdf). DOI:10.1007/b10628
Book
chapters
[BC-12] A. De Luca, W. Book, "Robots with flexible elements,"
in B. Siciliano, O. Khatib (Eds.) Springer Handbook of Robotics,
Springer Verlag,
Berlin,
pp. 287-319, 2008 (pdf). More about the handbook here.
[BC-11] A. De Luca, G. Oriolo,
M.
Vendittelli, S. Iannitti,
"Planning
motions for robotic systems subject to differential constraints,"
in B. Siciliano, A. De Luca, C. Melchiorri, G. Casalino (Eds.) Advances in Control of
Articulated and Mobile Robots, Springer Tracts in Advanced
Robotics, vol. 10, pp. 1-38, Springer Verlag, Berlin, 2004 (pdf).
[BC-10] 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 Verlag, Berlin, 2003 (pdf).
[BC-9] A.
De Luca, G. Oriolo, M. Vendittelli,
"Control of wheeled
mobile
robots: An experimental overview," in S. Nicosia, B.
Siciliano, A. Bicchi, P. Valigi, (Eds.) RAMSETE. Articulated
and
Mobile Robots for Services and Technology, Lecture Notes in Control and
Information Sciences, vol. 270, pp. 181-226,
Springer Verlag, London, 2001 (pdf).
[BC-8] A. De Luca, "Trajectory control of flexible
manipulators," in B. Siciliano, K.P. Valavanis (Eds.) Control Problems in Robotics
and Automation, Lecture Notes in Control and Information
Sciences, vol. 230, pp. 83-104, Springer Verlag, London, 1998 (pdf).
[BC-7] A.
De Luca, G. Oriolo, C. Samson, "Feedback
control of
a nonholonomic car-like robot," in J.-P. Laumond (Ed.) Robot Motion Planning
and Control, Lecture Notes in Control and
Information Sciences, vol.
229, pp. 171-253, Springer Verlag, London, 1998 (pdf).
The
whole book in PDF format can be downloaded from here.
[BC-6] A. De Luca, B.
Siciliano, "Flexible links,"
in C. Canudas de Wit, B.
Siciliano, G. Bastin (Eds.) Theory
of Robot Control, pp. 219-261, Springer Verlag,
Berlin, 1996 (pdf).
[BC-5] A. De Luca, P. Tomei, "Elastic joints," in C. Canudas de Wit, B.
Siciliano, G. Bastin (Eds.) Theory
of Robot Control, pp. 179-217, Springer Verlag,
Berlin, 1996 (pdf).
[BC-4] A. De Luca, B.
Siciliano, "Motion and
force control," in C. Canudas de Wit, B. Siciliano, G.
Bastin (Eds.) Theory of
Robot Control, pp. 141-175, Springer Verlag, Berlin, 1996 (pdf).
[BC-3] A.
De Luca, G. Oriolo, "Modelling
and control of nonholonomic mechanical systems," in J. Angeles, A. Kecskemethy
(Eds.) Kinematics and
Dynamics of
Multi-Body Systems, CISM Courses
and Lectures, vol. 360, pp. 277-342, Springer Verlag, Wien, 1995 (pdf).
[BC-2] A. De Luca, S. Monaco, "Robotica,"
in Enciclopedia
Italiana Treccani, Appendix V, vol. 4, pp. 553-557,
Treccani, Roma, 1994 (in Italian).
[BC-1] A. De Luca, "Redundant robots,"
in M.W. Spong, F. Lewis, C.T. Abdallah (Eds.) Robot Control: Dynamics, Motion
Planning, and Analysis, IEEE Press, New York, pp. 435-439,
1993.
Conferences
[C-120] F. Flacco, A.
De Luca, O. Khatib, "Motion control of redundant robots under joint constraints: Saturation in the null space," 2012 IEEE
International Conference on Robotics and Automation, St. Paul, MN, May 2012.
[C-119] F. Flacco, T. Kröger, A. De Luca, O. Khatib, "A depth space approach to human-robot collision avoidance," 2012 IEEE
International Conference on Robotics and Automation, St. Paul, MN, May 2012.
[C-118] F. Flacco, A.
De Luca, I. Sardellitti, N. Tsagarakis, "Robust estimation of variable stiffness in flexible joints," 2011 IEEE/RSJ
International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 4026-4033, 2011 (pdf). DOI:10.1109/IROS.2011.6094604
[C-117] G. Milighetti, L. Vallone, A.
De Luca, "Adaptive predictive gaze control of a redundant humanoid robot head," 2011 IEEE/RSJ
International Conference on Intelligent Robots and Systems, San Francisco, CA, pp. 3192-3198, 2011 (pdf). DOI:10.1109/IROS.2011.6094417
[C-116] F. Flacco, T. Kröger, A. De Luca, O. Khatib, "Collision avoidance in the depth space," RSS 2011 Workshop on RGB-D: Advance Reasoning with Depth Cameras, Los Angeles, CA, 2011 (pdf).
[C-115] F. Flacco, A.
De Luca, "Stiffness estimation and nonlinar control of robots with variable stiffness actuation," 18th IFAC World Congress, Milano, I, pp. 6872-6879, 2011 (pdf). DOI:10.3182/20110828-6-IT-1002.03299
[C-114] F. Flacco, A.
De Luca, "Residual-based stiffness estimation in robots with flexible transmissions," 2011 IEEE
International Conference on Robotics and Automation, Shanghai, PRC, pp. 5541-5547, 2011 (pdf). DOI:10.1109/ICRA.2011.5980541
[C-113] A.
De Luca, F. Flacco, "A PD-type regulator with exact gravity cancellation for robots with flexible joints," 2011 IEEE
International Conference on Robotics and Automation, Shanghai, PRC, pp. 317-323, 2011 (pdf). DOI:10.1109/ICRA.2011.5979615
[C-112] A.
De Luca, F. Flacco, "Dynamic gravity cancellation in robots with flexible transmissions," 49th IEEE Conference on Decision and Control, Atlanta, GA, pp. 288-295, 2010 (pdf). DOI:10.1109/CDC.2010.5718020
[C-111] F. Flacco, A.
De Luca, "Multiple
depth/presence sensors: Integration and optimal placement for
human/robot coexistence," 2010 IEEE
International Conference on Robotics and Automation, Anchorage, AK, pp. 3916-3923, 2010 (pdf). DOI:10.1109/ROBOT.2010.5509125
[C-110] A. De Luca, G. Oriolo,
P. Robuffo Giordano, "Kinematic
control of nonholonomic mobile manipulators in the presence of steering
wheels," 2010 IEEE International Conference on
Robotics and Automation, Anchorage, AK, pp. 1792-1798, 2010 (pdf). DOI:10.1109/ROBOT.2010.5509570
[C-109] A. De Luca, F. Flacco,
A. Bicchi, R. Schiavi, "Nonlinear
decoupled motion-stiffness control and collision detection/reaction for
the VSA-II variable stiffness device," 2009 IEEE/RSJ
International Conference on Intelligent Robots and Systems, St. Louis,
MO, pp. 5487-5494, 2009 (pdf).
[C-108] A. De Luca, R.
Mattone, P. Robuffo Giordano, H.H. Bülthoff, "Control design and experimental
evaluation of the 2D CyberWalk platform," 2009 IEEE/RSJ
International Conference on Intelligent Robots and Systems, St. Louis,
MO, pp. 5051-5058, 2009 (pdf). Featured also in the IEEE Spectrum Automaton blog
[C-107] A. De Luca, L.
Ferrajoli, "A modified
Newton-Euler method for dynamic computations in robot fault detection
and control," 2009 IEEE International Conference on
Robotics and Automation, Kobe, J, pp. 3359-3364, 2009 (pdf).
[C-106] L. Le Tien, A.
Albu-Schäffer, A. De Luca, G. Hirzinger, "Friction observer and
compensation for control of robots with joint torque measurements,"
2008 IEEE/RSJ International Conference on Intelligent Robots and
Systems, Nice, F, pp. 3789-3795, 2008 (pdf).
[C-105] S. Haddadin, A.
Albu-Schäffer, A. De Luca, G. Hirzinger, "Collision detection and reaction:
A contribution to safe physical human-robot interaction,"
2008 IEEE/RSJ International Conference on Intelligent Robots and
Systems, Nice, F, pp. 3356-3363, 2008 (pdf). IROS 2008 Best Application Paper Award
[C-104] A. De Luca, L.
Ferrajoli, "Exploiting
robot redundancy in collision detection and reaction,"
2008 IEEE/RSJ International Conference on Intelligent Robots and
Systems, Nice, F, pp. 3299-3305, 2008 (pdf).
[C-103] A. De Luca, H. Panzer,
"Rest-to-rest motion of a
one-link flexible arm with smooth bang-bang torque profile,"
9th International Conference on Motion and Vibration Control, München,
D, 2008 (pdf).
[C-102] S. Haddadin, A.
Albu-Schäffer, A. De Luca, G. Hirzinger, "Evaluation of collision detection
and reaction for a human-friendly robot on biological tissues,"
6th IARP/IEEE/EURON Joint Workshop on Technical Challenges for
Dependable Robots in Human Environments, Pasadena, CA, 2008 (pdf).
[C-101] A.
De Luca, G. Oriolo, P. Robuffo
Giordano, "Visual
servoing with exploitation of redundancy: An experimental study," 2008 IEEE International
Conference on Robotics and Automation, Pasadena, CA, pp. 2231-2237, 2008 (pdf).
[C-100] A. Censi, D. Calisi,
A. De Luca, G. Oriolo, "A
Bayesian framework for optimal motion planning with uncertainty," 2008 IEEE International
Conference on Robotics and Automation, Pasadena, CA, pp. 1798-1805, 2008 (pdf).
[C-99] G. Palli, C.
Melchiorri, A. De Luca, "On
the feedback linearization of robots with variable joint stiffness,"
2008 IEEE International Conference on Robotics and Automation,
Pasadena, CA, pp. 1753-1759, 2008 (pdf).
[C-98] P. Robuffo
Giordano, A.
De Luca, G. Oriolo, "3D
structure identification from image moments," 2008 IEEE International
Conference on Robotics and Automation, Pasadena, CA, pp. 93-100, 2008 (pdf).
[C-97] L. Zollo, B. Siciliano,
A. De Luca, E. Guglielmelli, "PD
control with on-line gravity compensation for robots with flexible links,"
2007 European Control Conference, Kos, GR, pp. 4365-4370, 2007
(pdf).
[C-96] A. De Luca, D.
Schröder, M. Thümmel, "An
acceleration-based state observer for robot manipulators with elastic
joints," 2007 IEEE International Conference on Robotics
and Automation, Roma, I, pp. 3817-3823, 2007 (pdf).
[C-95] A.
De Luca, G. Oriolo, P. Robuffo
Giordano, "On-line estimation of feature
depth for image-based visual servoing schemes," 2007 IEEE International
Conference on Robotics and Automation, Roma, Italy, pp. 2823-2828, 2007 (pdf).
[C-94] A. De Luca, R. Mattone,
P. Robuffo Giordano, "Acceleration-level
control of the CyberCarpet," 2007 IEEE International
Conference on Robotics and Automation, Roma, I, pp.
2330-2335, 2007 (pdf).
[C-93] A. De Luca, A.
Albu-Schäffer, S. Haddadin, G. Hirzinger, "Collision detection and safe
reaction with the DLR-III lightweight manipulator arm,"
2006 IEEE/RSJ International Conference on Intelligent Robots and
Systems, Beijing, PRC, pp. 1623-1630, 2006 (pdf).
[C-92] A. De Luca, R. Mattone,
P. Robuffo Giordano, "Feedback/feedforward
schemes for motion control of the CyberCarpet," 8th IFAC
Symposium on Robot Control, Bologna, I, 2006 (pdf).
[C-91] A. De Luca, R. Mattone,
P. Robuffo Giordano, "The
motion control problem for the CyberCarpet," 2006 IEEE
International Conference on Robotics and Automation, Orlando, FL, pp.
3532-3537, 2006 (pdf).
[C-90] A.
De Luca, G. Oriolo, P. Robuffo
Giordano,
"Kinematic modeling and
redundancy resolution for nonholonomic mobile manipulators,"
2006 IEEE International Conference on Robotics and Automation, Orlando,
FL, 2006 (pdf).
[C-89] R. Mattone, A. De Luca,
"Conditions for detecting
and isolating sets of faults in nonlinear systems," Joint
44th IEEE Conference on Decision and Control/European Control
Conference 2005, Seville, E, pp. 1005-1010, 2005 (pdf).
[C-88] A. De Luca, R. Mattone,
"An identification scheme
for robot actuator faults," 2005 IEEE/RSJ International
Conference on Intelligent Robots and Systems, Edmonton, CND, pp.
1127-1131, 2005 (pdf).
[C-87] R. Mattone, A. De Luca,
"Geometric and
hierarchical FDI for the IFATIS two-tank pilot plant,"
16th IFAC World Congress, Praha, CZ, pp. 394-399, 2005 (pdf).
[C-86] 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.
4297-4302, 2005 (pdf).
[C-85] A. De Luca, R. Mattone,
"Sensorless robot
collision detection and hybrid force/motion control," 2005
IEEE International Conference on Robotics and Automation, Barcelona, E,
pp. 999-1004, 2005 (pdf).
[C-84] A. De Luca, R. Farina, "Dynamic properties and nonlinear
control of robots with mixed rigid/elastic joints," 2004
International Symposium on Robotics and Automation (2004 World
Automation Congress), Seville, E, pp. 97-104, 2004 (pdf).
[C-83] L. Zollo, A. De Luca,
B. Siciliano, "Regulation
with on-line gravity compensation for robots with elastic joints,"
2004 IEEE International Conference on Robotics and Automation, New
Orleans, LA, pp. 2687-2692, 2004 (pdf).
[C-82] A. De Luca, R. Mattone,
"An adapt-and-detect
actuator FDI scheme for robot manipulators," 2004 IEEE
International Conference on Robotics and Automation, New Orleans, LA,
pp. 4975-4980, 2004 (pdf).
[C-81] R. Mattone, A. De Luca,
"Detection and isolation
of sensor faults in nonlinear systems: A case study,"
Workshop on Advanced Control and Diagnosis, Duisburg, D, pp.
49-54, 2003 (pdf).
[C-80] M. Benosman, G. Le
Vey, L. Lanari, A. De Luca, "Rest-to-rest
motion for planar multi-link flexible manipulator," 7th
IFAC Symposium on Robot Control, Wroclaw, PL, pp.
327-332, 2003.
[C-79] L. Zollo, B. Siciliano,
E. Guglielmelli, P. Dario, A. De Luca, "Compliance control for a robot
with elastic joints," 11th International Conference on
Advanced Robotics, Coimbra, P, pp. 1411-1416, 2003 (pdf).
[C-78] A. De Luca, R. Mattone,
"Actuator failure
detection and isolation using generalized momenta," 2003
IEEE International Conference on Robotics and Automation, Taipei, ROC,
pp. 634-639, 2003 (pdf).
[C-77] A. De Luca, S.
Iannitti, "Smooth
trajectory planning for XYnR planar underactuated robots," 2002
IEEE/RSJ International Conference on Intelligent Robots and Systems,
Lausanne, CH, pp. 1651-1656, 2002 (pdf).
[C-76] A.
De Luca, G. Oriolo, L. Paone, P. Robuffo
Giordano, M.
Vendittelli, "Visual-based
planning and control for nonholonomic mobile
robots," 10th IEEE Mediterranean Conference on Control and
Automation,
Lisbon, PT, 2002 (pdf).
[C-75] A.
De Luca, G. Oriolo, L. Paone, P. Robuffo
Giordano,
"Experiments in visual
feedback control of a wheeled mobile robot,"
2002 IEEE International Conference on Robotics and Automation,
Washington, DC, 2002 (pdf).
[C-74] A. De
Luca, S. Iannitti, "A
simple STLC test for mechanical systems underactuated by one control," 2002
IEEE International Conference on Robotics and Automation, Washington,
DC, pp. 1735-1740, 2002 (pdf).
[C-73] A. De Luca, R. Farina, "Dynamic scaling of trajectories
for robots with elastic joints," 2002 IEEE International
Conference on Robotics and Automation, Washington, DC, pp. 2436-2442,
2002 (pdf).
[C-72] A. De Luca, S.
Iannitti, "Dynamic
feedback linearization of an XYnR planar underactuated robot with n
passive joints," Journèes Doctorales d'Automatique,
Toulouse, F, pp. 281-287, 2001.
[C-71] A. De Luca, G. Di
Giovanni, "Rest-to-rest
motion of a two-link robot with a flexible forearm," 2001
IEEE/ASME International Conference on Advanced Mechatronics, Como, I,
pp. 929-935, 2001 (pdf).
[C-70] A. De Luca, G. Di
Giovanni, "Rest-to-rest
motion of a one-link flexible forearm," 2001 IEEE/ASME
International Conference on Advanced Mechatronics, Como, I, pp.
923-928, 2001 (pdf).
[C-69] A.
De Luca, S. Iannitti, R. Mattone, G.
Oriolo, "Control problems
in underactuated manipulators," 2001 IEEE/ASME
International Conference
on Advanced Mechatronics, Como, I, pp. 855-861, 2001 (pdf).
[C-68] A. De
Luca, S. Iannitti, G. Oriolo, "Stabilization
of a PR planar underactuated robot," 2001 IEEE
International Conference on Robotics and Automation, Seoul, KR, pp.
2090-2095, 2001 (pdf).
[C-67] A.
De Luca, G. Oriolo, "Motion
planning
under gravity for
underactuated three-link robots," 2000 IEEE/RSJ
International
Conference on Intelligent Robots and Systems, Takamatsu, J, pp.
139-144, 2000 (pdf).
[C-66] A.
De Luca, G. Oriolo, M. Vendittelli,
"Stabilization of the
unicycle via dynamic feedback linearization," 6th IFAC
Symposium on
Robot Control, Vienna, A, pp. 397-402, 2000 (pdf).
[C-65] A.
Bettini, A. De Luca, G. Oriolo, "An
experimental comparison of
redundancy resolution schemes," 6th IFAC Symposium on
Robot Control,
Vienna, A, pp. 351-356, 2000 (pdf).
[C-64] A. De Luca, "Feedforward/feedback laws for the
control of flexible robots," 2000 IEEE International
Conference on Robotics and Automation, San Francisco, CA, pp.
233-240, 2000 (pdf).
[C-63] A.
De Luca, G. Oriolo, "Motion
planning and trajectory control of
an underactuated three-link robot via dynamic feedback linearization,"
2000 IEEE International Conference on Robotics and Automation, San
Francisco, CA, pp. 2789-2795, 2000 (pdf).
[C-62] L.
Caracciolo, A. De Luca, S. Iannitti, "Trajectory tracking control of a
four-wheel differentially driven mobile robot," 1999 IEEE
International Conference on Robotics and Automation, Detroit, MI, pp.
2632-2638, 1999 (pdf).
[C-61] A.
De Luca, G. Oriolo, "Stabilization
of
the Acrobot via
iterative state steering," 1998 IEEE International
Conference on
Robotics and Automation, Leuven, B, pp. 3581-3587, 1998 (pdf).
[C-60] A. De
Luca, S. Panzieri, G. Ulivi, "Stable
inversion control for flexible link manipulators," 1998
IEEE International Conference on Robotics and Automation, Leuven, B,
pp. 799-805, 1998 (pdf).
[C-59] A. De Luca, P.
Lucibello, "A general
algorithm for dynamic feedback linearization of robots with elastic
joints," 1998 IEEE International Conference on Robotics
and Automation, Leuven, B, pp. 504-510, 1998 (pdf).
ICRA 1998 Best Conference Paper Award
[C-58] A.
De Luca, R. Mattone, G. Oriolo,
"Stabilization of
underactuated robots: Theory and experiments for a planar 2R
manipulator," 1997 IEEE International Conference on
Robotics and
Automation, Albuquerque, NM, pp. 3274-3280, 1997 (pdf).
[C-57] A.
De Luca, R. Mattone, G. Oriolo, "Control
of underactuated
mechanical systems: Application to the planar 2R robot,"
35th IEEE
Conference on Decision and Control, Kobe, J, pp. 2614-2619, 1996 (pdf).
[C-56] A. De Luca, R. Mattone,
"Controllability through
active forces in cooperating robots with general payloads,"
13th IFAC World Congress, San Francisco, CA, vol. A, pp.
13-18, 1996 (pdf).
[C-55] R. Mattone, A. De Luca,
"Task-oriented dynamic
modeling of two cooperating robots," 6th International
Symposium on Robotics and Manufacturing, Montpellier, F, vol. 6, pp.
503-510, 1996 (pdf).
[C-54] A.
De Luca, R. Mattone, G. Oriolo, "Dynamic
mobility of redundant
robots using end-effector commands," 1996 IEEE
International Conference
on Robotics and Automation, Minneapolis, MN, pp. 1760-1767, 1996 (pdf).
[C-53] A.
Bemporad, A. De Luca, G. Oriolo, "Local
incremental planning
for a car-like robot navigating among obstacles," 1996
IEEE
International Conference on Robotics and Automation, Minneapolis, MN,
pp. 1205-1211, 1996 (pdf).
[C-52] A. De Luca, "Decoupling and feedback
linearization of robots with mixed rigid/elastic joints,"
1996 IEEE International Conference on Robotics and Automation,
Minneapolis, MN, pp. 816-821, 1996 (pdf).
[C-51] A. De Luca, L. Lanari, "Robots with elastic joints are
linearizable via dynamic feedback," 34th IEEE Conference
on Decision and Control, New Orleans, LA, pp. 3895-3897, 1995 (pdf).
[C-50] A. De Luca, R. Mattone,
"Modeling and control for
cooperating robots handling objects with extra degrees of freedom,"
3rd European Control Conference, Roma, I, pp.
1924-1931, 1995.
[C-49] A. De Luca, "Dynamic feedback linearization
of robots with mixed rigid/elastic joints," 3rd European
Control Conference, Roma, I, pp. 1863-1869, 1995.
[C-48] A. De Luca, R. Mattone,
M. Sciandrone, "Direct
kinematics of articulated parallel manipulators using neural networks,"
3rd IEEE Mediterranean Symposium on New Directions in Control and
Automation, Limassol, CY, pp. 53-59, 1995 (pdf).
[C-47] A. De Luca, R. Mattone,
"Modeling and control
alternatives for robots in dynamic cooperation," 1995 IEEE
International Conference on Robotics and Automation, Nagoya, J, pp.
138-145, 1995 (pdf).
[C-46] A.
De Luca, G. Oriolo, "Nonholonomy
in
redundant robots under
kinematic inversion," 4th IFAC Symposium on Robot Control,
Capri, I, pp. 179-184, 1994.
[C-45] A.
De Luca, G. Oriolo, "Local
incremental
planning for
nonholonomic mobile robots," 1994 IEEE International
Conference on
Robotics and Automation, San Diego, CA, pp. 104-110, 1994 (pdf).
[C-44] A. De
Luca, S. Panzieri, "An
iterative scheme for learning gravity compensation in flexible robot
arms," 12th IFAC World Congress, Sydney, AUS, vol. 8, pp.
191-196, 1993 (pdf).
[C-43] A. De Luca, B.
Siciliano, "An
asymptotically stable joint PD controller for robot arms with flexible
links under gravity," 31st IEEE Conference on Decision and
Control, Tucson, AZ, pp. 325-326, 1992 (pdf).
[C-42] A. De Luca, M.D. Di
Benedetto, "Some
structural aspects in the control of nonholonomic systems via dynamic
compensation," 2nd IFAC Workshop on System Structure and
Control, Praha, CZ, pp. 240-243, 1992.
[C-41] A. De Luca, F. Nicolò,
G. Ulivi, "Trajectory
tracking in flexible robot arms,"
in A. Isidori, T.J. Tarn (Eds.) Systems, Models and Feedback: Theory
and Applications, Progress in Systems and Control Theory Series, vol.
12, pp. 17-34, Birkhäuser, Boston, 1992 (pdf).
[C-40] A.
De Luca, L. Lanari, G. Oriolo, "Control
of redundant robots on
cyclic trajectories," 1992 IEEE International Conference
on Robotics
and Automation, Nice, F, pp. 500-506, 1992 (pdf).
[C-39] A. De
Luca, G. Ulivi, "Iterative
learning control of robots with elastic joints," 1992
IEEE International Conference on Robotics and Automation, Nice, F, pp.
1920-1926, 1992 (pdf).
[C-38] A. De Luca, B.
Siciliano, "Relevance of
dynamic models in analysis and synthesis of control laws for flexible
manipulators," in J.C. Gentina, S.G. Tsafestas (Eds.)
Robotics and Flexible Manufacturing Systems, pp. 161-168, Elsevier,
Amsterdam, 1992.
[C-37] A.
De Luca, G. Oriolo, "Issues
in
acceleration resolution of
robot redundancy," 3rd IFAC Symposium on Robot Control,
Vienna, A, pp. 665-670, 1991 (pdf).
[C-36] A. De Luca, C. Manes, "Hybrid force-position control for
robots in contact with dynamic environments," 3rd IFAC
Symposium on Robot Control, Vienna, A, pp. 177-182, 1991.
[C-35] A. De Luca, B.
Siciliano, "Issues in
modeling techniques for control of robotic manipulators with structural
flexibility," 13th IMACS World Congress on Computation and
Applied Mathematics, Dublin, IR, vol. 3, pp. 1121-1122, 1991.
[C-34] A. De Luca, "Nonlinear regulation of robot
motion," 1st European Control Conference, Grenoble, F, pp.
1045-1050, 1991.
[C-33] A. De Luca, C. Manes, "On the modeling of robots in
contact with a dynamic environment," 5th International
Conference on Advanced Robotics, Pisa, I, pp. 568-574, 1991 (pdf). ICAR
1991 Best Student Paper Award
[C-32] A. De Luca, F.
Mataloni, "Learning
control for redundant manipulators," 1991 IEEE
International Conference on Robotics and Automation, Sacramento, CA,
pp. 1442-1450, 1991 (pdf).
[C-31] A. De Luca, L. Lanari, "Achieving minimum phase behavior
in a one-link flexible arm," International
Symposium on Intelligent Robotics, Bangalore, IND, pp.
224-235, 1991.
[C-30] A. De Luca, "Zero dynamics in robotic systems,"
in C.I. Byrnes, A. Kurszanski (Eds.) Nonlinear Synthesis, Progress in
Systems and Control Theory Series, vol. 9, pp. 68-87, Birkhäuser,
Boston, 1991 (pdf).
[C-29] A. De Luca, L. Lanari,
G. Ulivi, "End-effector
trajectory tracking in flexible arms: Comparison of approaches based on
regulation theory,"
in C. Canudas de Wit (Ed.) Advanced Robot Control, Lecture Notes in
Control and Information Sciences, vol. 162, pp. 190-206, Springer
Verlag, Berlin, 1991.
[C-28] A. De Luca, L. Lanari,
G. Ulivi, "Nonlinear
regulation of end-effector motion for a flexible robot arm,"
in G. Conte, A.M. Perdon, B. Wyman (Eds.) New Trends in Systems Theory,
Progress in Systems and Control Theory Series, vol. 7, pp. 229-236,
Birkhäuser, Boston, 1991 (pdf).
[C-27] A. De Luca, B.
Siciliano, "Explicit
dynamic modeling of a planar two-link flexible manipulator,"
29th IEEE Conference on Decision and Control, Honolulu, HI, pp.
528-530, 1990 (pdf).
[C-26] A. De Luca, L. Lanari,
P. Lucibello, S. Panzieri, G. Ulivi, "Control experiments on a two-link
robot with a flexible forearm," 29th IEEE Conference on
Decision and Control, Honolulu, HI, pp. 520-527, 1990 (pdf).
[C-25] A.
De Luca, G. Oriolo, "The
reduced
gradient method for solving
redundancy in robot arms," 11th IFAC World Congress,
Tallinn, USSR,
vol. 9, pp. 143-148, 1990.
[C-24] A.
De Luca, G. Oriolo, "Kinematic
resolution of redundancy via
joint-space decomposition," 8th CISM-IFToMM Symposium on
Theory and
Practice of Robots and Manipulators, Krakow, PL, pp.
64-71, 1990 (pdf).
[C-23] A. De
Luca, L. Lanari, G. Ulivi, "Output
regulation of a flexible robot arm,"
9th INRIA International Conference on Analysis and Optimization of
Systems, Antibes, F, Lecture Notes in Control and Information
Sciences, vol. 144, pp. 833-842, 1990.
[C-22] A.
De Luca, G. Oriolo, "Efficient
dynamic
resolution of robot
redundancy," 1990 American Control Conference, San Diego, CA, pp.
221-227, 1990 (pdf).
[C-21] A. De Luca, B.
Siciliano, "Dynamic
modelling of multi-link flexible robot arms," IFIP
Conference on Modelling the Innovation, Roma, I, pp. 193-200, 1990.
[C-20] A. De Luca, C. Manes,
G. Ulivi, "Robust hybrid
dynamic control of robot arms," 28th IEEE Conference on
Decision and Control, Tampa, FL, pp. 2641-2646, 1989 (pdf).
[C-19] A. De Luca, G. Paesano,
G. Ulivi, "A
frequency-domain approach to learning control: Implementation for a
robot manipulator," 4th IEEE International Symposium on
Intelligent Control, Albany, NY, pp. 66-71, 1989 (pdf).
[C-18] A. De Luca, G. Ulivi, "The design of linearizing outputs
for induction motors," IFAC Symposium on
Nonlinear Control Systems Design, Capri, I, pp. 363-367, 1989.
[C-17] A. De Luca, P.
Lucibello, G. Ulivi, "Inversion
techniques for open and closed-loop control of flexible arms,"
2nd International Symposium on Robotics and Manufacturing, Albuquerque,
NM, pp. 529-538, 1988.
[C-16] A.
De Luca, L. Lanari, G. Oriolo, F.
Nicolò, "A sensitivity
approach to optimal spline robot trajectories," 2nd IFAC
Symposium on
Robot Control, Karlsruhe, D, pp. 505-510, 1988.
[C-15] A. De Luca, C. Manes,
F. Nicolò, "A task space
decoupling approach to hybrid control of manipulators,"
2nd IFAC Symposium on Robot Control, Karlsruhe, D, pp.
157-162, 1988.
[C-14] A. De Luca, C. Manes,
F. Nicolò, "Hybrid
force-velocity control using redundant manipulators," NATO
Advanced Research Workshop on Robots with Redundancy: Design, Sensing
and Control, Salò, I, 1988.
[C-13] A. De Luca, G. Ulivi, "Dynamic decoupling of voltage
frequency controlled induction motors,"
8th International Conference on Analysis and Optimization of Systems,
Nice, F, Lecture Notes in Control and Information Sciences, vol. 111,
pp. 127-137, 1988.
[C-12] A. De Luca, B.
Siciliano, "Joint-based
control of a nonlinear model of a flexible arm," 1988
American Control Conference, Atlanta, GA, pp. 935-940, 1988 (pdf).
[C-11] A. De Luca, "Dynamic control of robots with
joint elasticity,"
1988 IEEE International Conference on Robotics and Automation,
Philadelphia, PA, pp. 152-158, 1988 (pdf).
Also in M.W. Spong, F.
Lewis, C.T. Abdallah (Eds.) Robot Control: Dynamics, Motion Planning,
and Analysis, IEEE Press, New York, 1993.
[C-10] A. De Luca, P.
Lucibello, F. Nicolò, "Automatic
symbolic modelling and nonlinear control of robots with
flexible links," IEE International Workshop on Robot
Control: Theory and Applications, Oxford, GB, pp. 62-70, 1988.
[C-9] A. De Luca, G. Ulivi, "Full linearization of induction
motors via nonlinear state-feedback," 26th IEEE
Conference on Decision and Control, Los Angeles, CA, pp.
1765-1770, 1987 (pdf).
[C-8] A. De Luca, A. Isidori, "Feedback linearization of
invertible systems," 2nd Duisburger Kolloquium Automation
und Robotik, Duisburg, D, Jul. 1987.
[C-7] A. De Luca, "Control properties of robot arms
with joint elasticity," 8th International Symposium on the
Mathematical Theory of Networks and Systems, Phoenix, AZ, pp.
61-70, 1987.
[C-6] A. Isidori, C.H. Moog,
A. De Luca, "A sufficient
condition for full linearization via dynamic state feedback,"
25th IEEE Conference on Decision and Control, Athens, GR, pp.
203-208, 1986 (pdf).
[C-5] A. De Luca, G. Di Pillo,
"An exact augmented
Lagrangian approach to multilevel optimization," 4th
IFAC/IFORS Symposium on Large Scale Systems: Theory and Applications,
Zürich, CH, pp. 398-404, 1986.
[C-4] A. De Luca, A. Isidori,
F. Nicolò, "Control of
robot arm with elastic joints via nonlinear dynamic feedback,"
24th IEEE Conference on Decision and Control, Ft. Lauderdale, FL, pp.
1671-1679, 1985 (pdf).
[C-3] A. De Luca, F. Nicolò, "Minimum traveling time for robot
arm under joints dynamic constraints," 1st IFAC Symposium
on Robot Control, Barcelona, E, pp. 361-363, 1985.
[C-2] A. De Luca, A. Isidori,
F. Nicolò, "An
application of nonlinear model matching to the dynamic control of robot
arm with elastic joints," 1st IFAC Symposium on Robot
Control, Barcelona, E, pp. 55-61, 1985.
[C-1] P. Caravani, A. De Luca,
"Some results in sectoral
aggregation," 6th Polish-Italian Symposium on System
Theory and Mathematical Economics, Roma, I, pp. 109-129, 1984.
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