Zobrazeno 1 - 9
of 9
pro vyhledávání: '"Gian Maria Gasparri"'
Autor:
Antonio Bicchi, Tobia Marcucci, Alessio Artoni, Gian Maria Gasparri, Marco Gabiccini, Manolo Garabini
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783030286187
ISRR
ISRR
In this paper we propose a method for online motion planning of constrained nonlinear systems. The method consists of three steps: the offline generation of a library of parametric trajectories via direct trajectory optimization, the online search in
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::289a209880039e7b0ea661a2c282edc6
https://hdl.handle.net/11568/889781
https://hdl.handle.net/11568/889781
Autor:
Michael Owen Bair, Jennifer L Lawson, Jason Luque, Gian Maria Gasparri, Zachary F. Lerner, Taryn A. Harvey, Andrea T. Lerner
Publikováno v:
IEEE Transactions on Neural Systems and Rehabilitation Engineering. 26:1985-1993
The high energy cost of walking in individuals with cerebral palsy (CP) contributes significantly to reduced mobility and quality of life. The purpose of this study was to develop and clinically evaluate an untethered ankle exoskeleton with the abili
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0f5c166a7e72aa2914acbb51437938b6
https://doi.org/10.1109/tnsre.2018.2870756
https://doi.org/10.1109/tnsre.2018.2870756
Publikováno v:
IROS
Walking ability is critically important for pediatric health, well-being, and independence. Children with cerebral palsy (CP), the most prevalent cause of pediatric physical disability, often present pathological gait patterns that negatively impact
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::57e57209c92e46f9199ced13f0c786cb
https://doi.org/10.1109/iros.2018.8593904
https://doi.org/10.1109/iros.2018.8593904
Autor:
Manolo Garabini, Giuseppe Averta, Giorgio Grioli, Hamal Marino, Manuel G. Catalano, Silvia Manara, Gian Maria Gasparri, Matteo Bianchi, Manuel Bonilla, Danilo Caporale, Antonio Bicchi
Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8bf4b4784a7a65413dbdd378491ff857
http://hdl.handle.net/11583/2970295
http://hdl.handle.net/11583/2970295
Autor:
Cosimo Della Santina, Giorgio Grioli, Cristina Piazza, Manuel G. Catalano, Manuel Bonilla, Manolo Garabini, Antonio Bicchi, Gian Maria Gasparri
Publikováno v:
IEEE Robotics & Automation Magazine
Soft robots are one of the most significant recent evolutions in robotics. They rely on compliant physical structures purposefully designed to embody desired characteristics. Since their introduction, they have shown remarkable applicability in overc
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::04f5e77fbb847be750e1cc58e9af1cf1
https://zenodo.org/record/1037471
https://zenodo.org/record/1037471
Autor:
Manolo Garabini, Gian Maria Gasparri, Manuel G. Catalano, Cristina Piazza, Giorgio Grioli, Cosimo Della Santina, Antonio Bicchi
Publikováno v:
Humanoids
Many walking robot presented in literature stand on rigid flat feet, with a few notable exceptions that embed flexibility in their feet to optimize the energetic cost of walking. This paper proposes a novel adaptive robot foot design, whose main goal
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8eac719080bcda2dafdf47fff54845da
http://hdl.handle.net/11568/842786
http://hdl.handle.net/11568/842786
Autor:
Giorgio Grioli, Manolo Garabini, Antonio Bicchi, Lucia Pallottino, Gian Maria Gasparri, Manuel G. Catalano, L. Malagia
Publikováno v:
IROS
In this paper a model-free approach for damping control of Variable Stiffness Actuators is proposed. The idea is to take advantage of the possibility to change the stiffness of the actuators in controlling the damping. The problem of minimizing the t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::093d8212ed77eb9030b6236842a12653
https://doi.org/10.1109/iros.2015.7354312
https://doi.org/10.1109/iros.2015.7354312
Autor:
Gian Maria Gasparri, Manolo Garabini, Antonio Bicchi, Lorenzo Malagia, Paolo Salaris, Alexandra Velasco
Publikováno v:
2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids).
In this paper, we study the role of soft actuation in the reduction of the energy cost for mechanical systems that perform cyclic tasks. The objective is to determine the optimal stiffness value and spring pre-load such that a given cost functional i
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ac05d6ef9a73ce0b5fbb0c54ea698feb
https://doi.org/10.1109/humanoids.2013.7029999
https://doi.org/10.1109/humanoids.2013.7029999
Autor:
Matteo Bianchi, Manuel G. Catalano, Antonio Bicchi, Cosimo Della Santina, Giorgio Grioli, Franco Angelini, Manolo Garabini, Gian Maria Gasparri
Publikováno v:
IEEE Transactions on Robotics
Despite the classic nature of the problem, trajectory tracking for soft robots, i.e., robots with compliant elements deliberately introduced in their design, still presents several challenges. One of these is to design controllers which can obtain su
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2450543f139137631fa9447caa3c2cb4