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View article: A ROS2-based software library for inverse dynamics computation
A ROS2-based software library for inverse dynamics computation Open
Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to s…
View article: The Dynamic Model of the UR10 Robot and Its ROS2 Integration
The Dynamic Model of the UR10 Robot and Its ROS2 Integration Open
This paper presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First, linear parameters are computed using a standard linear re…
View article: Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction
Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction Open
Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the control center, offline motion planning is fundamental in the co…
View article: On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks
On the role of Artificial Intelligence methods in modern force-controlled manufacturing robotic tasks Open
This position paper explores the integration of Artificial Intelligence (AI) into force-controlled robotic tasks within the scope of advanced manufacturing, a cornerstone of Industry 4.0. AI's role in enhancing robotic manipulators - key d…
View article: Achieving Kinetic Anthropomorphism in Robotic Precision Tasks
Achieving Kinetic Anthropomorphism in Robotic Precision Tasks Open
In this position paper we address the issue of acceptance in human-robot interaction, a topic often associated with anthropomorphism. The literature around this concept lacks of a discussion around the kinetic aspect of anthropomorphism, e…
View article: Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction
Optimal Whole Body Trajectory Planning for Mobile Manipulators in Planetary Exploration and Construction Open
Space robotics poses unique challenges arising from the limitation of energy and computational resources, and the complexity of the environment and employed platforms. At the control center, offline motion planning is fundamental in the co…
View article: Experimental validation of an Actor-Critic Model Predictive Force Controller for robot-environment interaction tasks
Experimental validation of an Actor-Critic Model Predictive Force Controller for robot-environment interaction tasks Open
In industrial settings, robots are typically employed to accurately track a reference force to exert on the surrounding environment to complete interaction tasks. Interaction controllers are typically used to achieve this goal. Still, they…
View article: Optimized Residual Action for Interaction Control with Learned Environments
Optimized Residual Action for Interaction Control with Learned Environments Open
In industrial settings, robotic tasks often require interaction with various objects, necessitating compliant manipulation to prevent damage while accurately tracking reference forces. To this aim, interaction controllers are typically emp…
View article: A New Human-Likeness and Comfort Index for Robot Movements Along Prescribed Paths
A New Human-Likeness and Comfort Index for Robot Movements Along Prescribed Paths Open
As human-robot interaction rapidly spreads in numerous fields, the subject of robot acceptance gains increasing importance. Visual similarity to the human body, as occurs for humanoids, is generally not enough to guarantee acceptance in ph…
View article: Experimental validation of an Actor-Critic Model Predictive Force Controller for robot-environment interaction tasks
Experimental validation of an Actor-Critic Model Predictive Force Controller for robot-environment interaction tasks Open
In industrial settings, robots are typically employed to accurately track a reference force to exert on the surrounding environment to complete interaction tasks. Interaction controllers are typically used to achieve this goal. Still, they…
View article: Experimental validation of an Actor-Critic Model Predictive Force Controller for robot-environment interaction tasks
Experimental validation of an Actor-Critic Model Predictive Force Controller for robot-environment interaction tasks Open
In industrial settings, robots are typically employed to accurately track a reference force to exert on the surrounding environment to complete interaction tasks. Interaction controllers are typically used to achieve this goal. Still, they…
View article: Human-Robot Interface for Teleoperated Robotized Planetary Sample Collection and Assembly
Human-Robot Interface for Teleoperated Robotized Planetary Sample Collection and Assembly Open
As human space exploration evolves toward longer voyages farther from our\nhome planet, in-situ resource utilization (ISRU) becomes increasingly\nimportant. Haptic teleoperations are one of the technologies by which such\nactivities can be…
View article: Observation vs. interaction in the recognition of human-like movements
Observation vs. interaction in the recognition of human-like movements Open
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 associ…
View article: Optimized Residual Action for Interaction Control with Learned Environments
Optimized Residual Action for Interaction Control with Learned Environments Open
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…
View article: Optimized Residual Action for Interaction Control with Learned Environments
Optimized Residual Action for Interaction Control with Learned Environments Open
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…
View article: Experimental Validation of an Actor-Critic Model Predictive Force Controller for Robot-Environment Interaction Tasks
Experimental Validation of an Actor-Critic Model Predictive Force Controller for Robot-Environment Interaction Tasks Open
In industrial settings, robots are typically employed to accurately track a reference force to exert on the surrounding environment to complete interaction tasks. Interaction controllers are typically used to achieve this goal. Still, they…
View article: Time-Optimal Trajectory Planning with Interaction with the Environment
Time-Optimal Trajectory Planning with Interaction with the Environment Open
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 envi…
View article: A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints
A Dynamic Programming Framework for Optimal Planning of Redundant Robots Along Prescribed Paths With Kineto-Dynamic Constraints Open
Offline optimal planning of trajectories for redundant robots along prescribed task space paths is usually broken down into two consecutive processes: first, the task space path is inverted to obtain a joint space path, then, the latter is…
View article: Robot-Agnostic Interaction Controllers Based on ROS
Robot-Agnostic Interaction Controllers Based on ROS Open
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 multipl…
View article: Discrete fully probabilistic design: towards a control pipeline for the synthesis of policies from examples
Discrete fully probabilistic design: towards a control pipeline for the synthesis of policies from examples Open
We present the principled design of a control pipeline for the synthesis of policies from examples data. The pipeline, based on a discretized design which we term as discrete fully probabilistic design, expounds an algorithm recently intro…
View article: Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation
Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation Open
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 disc…
View article: Robotized assembly and inspection of composite fuselage panels: the LABOR project approach
Robotized assembly and inspection of composite fuselage panels: the LABOR project approach Open
The aerospace manufacturing is looking at ways to change their production processes in order to improve costs, flexibility and efficiency. The LABOR project, acronym for Lean robotized AssemBly and cOntrol of composite aeRostructures , aim…
View article: Planning of efficient trajectories in robotized assembly of aerostructures exploiting kinematic redundancy
Planning of efficient trajectories in robotized assembly of aerostructures exploiting kinematic redundancy Open
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction. Robot…
View article: An incremental model repair approach to timed discrete event systems
An incremental model repair approach to timed discrete event systems Open
New results on the model repair for timed discrete systems, modeled as Time Petri net systems, are presented in this paper. Unexpected and missed behavior in the nominal model, leading to observed but unexpected events and missed event obs…
View article: A low-cost and flexible solution for one-shot cooperative robotic drilling of aeronautic stack materials
A low-cost and flexible solution for one-shot cooperative robotic drilling of aeronautic stack materials Open
In this paper, a general architecture for robotized cooperative drilling of hybrid metal/Carbon Fibre Reinforced Polymer (CFRP) aeronautic stacks is presented. The main objectives are to reduce non-added value operations as dismantling, de…
View article: IdentifyTPN: a tool for the identification of Time Petri nets
IdentifyTPN: a tool for the identification of Time Petri nets Open
Despite of the fact that the field of system identification of discrete event processes/systems has attracted the attention of many researchers in the last decade, there is a lack of tools that allow the use of the existing algorithms, alo…