Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Enrico Ferrentino"'
Publikováno v:
Frontiers in Robotics and AI, Vol 10 (2023)
A crucial aspect in human-robot collaboration is the robot acceptance by human co-workers. Based on previous experiences of interaction with their fellow beings, humans are able to recognize natural movements of their companions and associate them wi
Externí odkaz:
https://doaj.org/article/db70befcea3043dfb87d191764ba6b58
Publikováno v:
Applied Sciences, Vol 12, Iss 8, p 3949 (2022)
In robotized industrial scenarios, the need for efficiency and flexibility is increasing, especially when tasks must be executed in dangerous environments and/or require the simultaneous manipulation of dangerous/fragile objects by multiple heterogen
Externí odkaz:
https://doaj.org/article/68aca54d8de54828b24173074cde0d1a
Publikováno v:
Robotics, Vol 10, Iss 1, p 42 (2021)
Dynamic programming techniques have proven much more flexible than calculus of variations and other techniques in performing redundancy resolution through global optimization of performance indices. When the state and input spaces are discrete, and t
Externí odkaz:
https://doaj.org/article/1618e691af1249caa9872dd9a0df798c
Autor:
Loris Roveda, Francesco Braghin, Pasquale Chiacchio, Enrico Ferrentino, Vincenzo Petrone, Alessandro Pozzi, Luca Puricelli
Robotic tasks featuring interaction with other bodies are increasingly required in industrial contexts. The manipulators need to interact with the environment in a compliant way to avoid damage, but, at the same time, are often required to accurately
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::84c203a394dad52aef09ae0a1bcca9f0
https://doi.org/10.36227/techrxiv.21905433.v1
https://doi.org/10.36227/techrxiv.21905433.v1
Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the environment is
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::29080fb38a0932804e95227648301b58
http://arxiv.org/abs/2207.05604
http://arxiv.org/abs/2207.05604
Publikováno v:
Robotics; Volume 10; Issue 1; Pages: 42
Robotics, Vol 10, Iss 42, p 42 (2021)
Robotics, Vol 10, Iss 42, p 42 (2021)
Dynamic programming techniques have proven much more flexible than calculus of variations and other techniques in performing redundancy resolution through global optimization of performance indices. When the state and input spaces are discrete, and t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::979d6bb224cb04e10fd43d0b367e8ffd
Autor:
Enrico Ferrentino, Pasquale Chiacchio
Publikováno v:
Journal of Mechanisms and Robotics. 12
The redundancy resolution schemes based on the optimization of an integral performance index are investigated from the topological point of view. The topological notions of self-motion manifold, C-path-homotopy and extended aspect are clarified in re
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::57cb089120afc7b4a0d6cdfc68a216a1
https://doi.org/10.1115/1.4045178
https://doi.org/10.1115/1.4045178
Time-optimal control of robotic manipulators along specified paths is a well-known problem in robotics. It concerns the minimization of the trajectory-tracking time subject to a constrained path and actuator torque limits. Calculus of variations reve
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a704e2e68c479c473aee499b18905ede
http://hdl.handle.net/11386/4749084
http://hdl.handle.net/11386/4749084
Autor:
Enrico Ferrentino, Pasquale Chiacchio
Publikováno v:
ROMANSY 22 – Robot Design, Dynamics and Control ISBN: 9783319789620
The sub-optimality of redundant manipulators inverse kinematics solutions deriving from calculus of variations is discussed through some considerations of topology. This paper clarifies the relations of homotopy linking together, on one hand, self-mo
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f8172ec41124bd64fe7d1fb574af4503
http://hdl.handle.net/11386/4715509
http://hdl.handle.net/11386/4715509