Ruggiero, Fabio - 檢索結果 - CERN Document Server

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Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems / D'Ago, Giancarlo (CERN ; Naples U.) ; Selvaggio, Mario (Naples U.) ; Suarez, Alejandro (Seville U.) ; Gañán, Francisco Javier (Seville U.) ; Rosario Buonocore, Luca (CERN) ; Di Castro, Mario (CERN) ; Lippiello, Vincenzo (Naples U.) ; Ollero, Anibal (Seville U.) ; Ruggiero, Fabio (Naples U.)
This paper proposes rigid-body modelling and identification procedures for long-reach dual-arm manipulators in a cable-suspended pendulum configuration. The proposed model relies on a virtually constrained open kinematic chain and lends itself to be simulated through the most commonly used robotic simulators without explicitly account for the cables constraints and flexibility. [...]
2024 - 10 p. - Published in : Robotics Autonom. Sys. 175 (2024) 104643 Fulltext: PDF;

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Visual control through narrow passages for an omnidirectional wheeled robot / Morra, Damiano (Naples U.) ; Cervera, Enric (Jaume I U., Castellon) ; Buonocore, Luca Rosario (CERN) ; Cacace, Jonathan (Naples U.) ; Ruggiero, Fabio (Naples U.) ; Lippiello, Vincenzo (Naples U.) ; Castro, Mario Di (CERN)
Robotic systems are gradually replacing human intervention in dangerous facilities to improve human safety and prevent risky situations. In this domain, our work addresses the problem of autonomous crossing narrow passages in a semi-structured (i.e., partially-known) environment. [...]
2022 - 6 p. - Published in : 10.1109/MED54222.2022.9837221

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Nonprehensile Manipulation Control and Task Planning for Deformable Object Manipulation: Results from the RoDyMan Project / Ruggiero, Fabio (U. Naples (main)) ; Kim, Jung-Tae (U. Naples (main)) ; Gutierrez-Giles, Alejandro (CIC, IPN) ; Satici, Aykut C (Boise State U.) ; Donaire, Alejandro (Newcastle U., Australia) ; Cacace, Jonathan (U. Naples (main)) ; Buonocore, Luca Rosario (CERN) ; Fontanelli, Giuseppe Andrea (U. Naples (main)) ; Lippiello, Vincenzo (U. Naples (main)) ; Siciliano, Bruno (U. Naples (main))
This chapter aims the broadcasting of the results achieved by the RoDyMan project about the task planning manipulation of deformable objects, and the nonprehensile manipulation control. The final demonstrator of the project is a pizza-making process. [...]
2019 - 25 p. - Published in : 10.1007/978-3-030-31993-9_4
In : The 15th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2018), Porto, Portugal, 29 - 30 Jul 2018, pp.76-100

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Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression / Pásztori, Zsolt (CERN ; Naples U.) ; Ruggiero, Fabio (Naples U.) ; Lippiello, Vincenzo (Naples U.) ; Castro, Mario di (CERN)
This paper tackles the problem of suppressing vibrations of a flexible beam mounted on a mobile robot for inspection purposes. The adopted approach is an input shaper design along with Bayesian optimization. [...]
2020 - 7 p. - Published in : IFAC-PapersOnLine 53 (2020) 9150-9156
In : 21st IFAC World Congress, Berlin, Germany, 11 - 17 July 2020, pp.9150-9156

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Control of Nonprehensile Planar Rolling Manipulation: A Passivity-Based Approach / Serra, Diana (U. Naples (main)) ; Ruggiero, Fabio (U. Naples (main)) ; Donaire, Alejandro (Newcastle U., Australia) ; Buonocore, Luca Rosario (CERN) ; Lippiello, Vincenzo (U. Naples (main)) ; Siciliano, Bruno (U. Naples (main))
This paper presents a new procedure to design a control law using the classical interconnection and damping assignment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. [...]
2019 - 13 p. - Published in : IEEE Transactions on Robotics 35 (2019) 317-329

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Nonprehensile manipulation of deformable objects: Achievements and perspectives from the RoDyMan project / Ruggiero, Fabio (U. Naples (main)) ; Petit, Antoine (INRIA, Nancy) ; Serra, Diana (Rete Ferroviaria Italiana, Sesto Fiorentino) ; Satici, Aykut Cihan (Boise State U.) ; Cacace, Jonathan (U. Naples (main)) ; Donaire, Alejandro (Queensland U. of Tech.) ; Ficuciello, Fanny (U. Naples (main)) ; Buonocore, Luca Rosario (CERN) ; Fontanelli, Giuseppe Andrea (U. Naples (main)) ; Lippiello, Vincenzo (U. Naples (main)) et al.
The goal of this article is to disseminate the planning and control strategies for robotic nonprehensile manipulation results achieved so far with the Robotic Dynamic Manipulation (RoDyMan) project. The goal of the project is to advance the state of the art of nonprehensile dynamic manipulation of rigid and deformable objects to enhance the possibility of employing robots in anthropic environments. [...]
2018 - Published in : IEEE Robot. Automat. Mag. 25 (2018) 83-92

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