Home
   Info
   Topics
   Projects
   Contracts
   Publications
   People
   Map
   Italian
print 
Robotics

Our research in the field of robotics covers several fields, from integrated control of complex teleoperation systems to vision systems control applications. The research activities carried out in the field of Robotics are:


u-Slave: Six degree of freedom slave robot
mkSrv: server software for integrated robotic systems control
Pose3D: Single-frame 3D tracking system
SurBot: six d.o.f. cartesian robot
RobTraj: study of robot trajectories

Publications

S. Abdolshah and G. Rosati
Improving performance of cable robots by adaptively changing minimum tension in cables
International Journal of Precision Engineering and Manufacturing, 2017. 18(5):673-680, 2017

L. Barbazza, D. Zanotto, G. Rosati, and S.K. Agrawal
Design and optimal control of an under-actuated cable-driven micro-macro robot
IEEE Robotics and Automation Letters, 2(2):896-903, 2017.

S. Abdolshah, D. Zanotto, G. Rosati, and S.K. Agrawal
Optimizing stiffness and dexterity of planar adaptive cable-driven parallel robots
Journal of Mechanisms and Robotics, 9(3), 2017

P. Boscariol, A. Gasparetto, L. Scalera, R. Vidoni
Efficient closed-form solution of the kinematics of a tunnel digging machine
Journal of Mechanism and Robotics 9(3), pp.1-13, 2017

P. Boscariol, D. Richiedei
Robust point-to-point trajectory planning for nonlinear underactuated systems: theory and experimental assessment
Accepted for the publication on Robotics and Computer-Integrated Manufacturing, 2017

L. Barbazza, D. Zanotto, G. Rosati, and S.K. Agrawal
Optimal design of a reconfigurable end-effector for cable-suspended parallel robots
Mechanisms and Machine Science, 47:267-275, 2017

L. Barbazza, F. Oscari, S. Minto, and G. Rosati
Optimized trajectory planning of pick and place operations to be performed by cable-driven parallel robots
Mechanisms and Machine Science, 47:287-295, 2017

S. Abdolshah, D. Zanotto, G. Rosati, and S.K. Agrawal
Performance evaluation of a new design of cable-suspended camera system
In Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017. Accepted for publication, submission no.2959

L. Scalera, E. Mazzon, P. Gallina, A. Gasparetto
Airbrush robotic painting system: experimental validation of a colour spray model
Advances in Service and Industrial Robotics: Proceedings of the 26th Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, Turin, 21-23 June,

P. Boscariol, A. Gasparetto
Robust model-based trajectory planning for nonlinear systems
Journal of Vibration and Control 22(18), pp. 3904-3915, 2016

P. Boscariol, G. Carabin, A. Gasparetto, N. Lever, R. Vidoni
Energy-Efficient Point-to-Point Trajectory Generation for Industrial Robotic Machines
ECCOMAS Thematic Conference on Multibody Dynamics June 29 - July 2, 2015, Barcelona, Catalonia, Spain

P. Boscariol, R. Vidoni, A. Gasparetto
Robustness Improvement of Trajectory Planning Algorithms
Proceeding of the 14th IFToMM World Congress, Taipei, Taiwan, October 25-30, 2015

Gasparetto, A., Boscariol, P., Lanzutti, A., Vidoni, R.
Path planning and trajectory planning algorithms: A general overview
Mechanisms and Machine Science, Volume 29, 1 January 2015, Pages 3-27 (book chapter)

M Henrey, A Ahmed, P Boscariol, L Shannon, C Menon
Abigaille-III: A Versatile, Bioinspired Hexapod for Scaling Smooth Vertical Surfaces
Journal of Bionic Engineering 11 (1), 1-17 (2014)

M. Rabiei, A. Gasparetto
A Methodology for Recognition of Emotions Based on Speech Analysis, for Applications to Human-Robot Interaction. An Exploratory Study
Paladyn, Journal of Behavioral Robotics. Volume 5, Issue 1, ISSN (Online) 2081-4836, April 2014, pp. 1-11, DOI:10.2478/pjbr-2014-0001

P. Boscariol, A. Gasparetto
Optimal robust trajectory planning for nonlinear systems: robust and constrained solutions
Robotica, published online

Seriani, S., Gallina, P., Gasparetto, A.
A performance index for planar repetitive workspace robots
Journal of Mechanisms and Robotics, Volume 6, Issue 3, August 2014, n. 031005, 12 pages

P. Boscariol, A. Gasparella, A. Gasparetto, R. Vidoni
A minimum energy trajectory algorithm for mechatronic systems with regenerative braking
Proceedings of The 14th Mechatronics Forum International Conference, Karlstad, Sweden, June 16-18 2014

M. Bietresato, P. Boscariol, A. Gasparetto, F. Mazzetto, R. Vidoni
On the design of a Mechatronic Mobile System for Laser Scanner Based Crop Monitoring
Proceedings of The 14th Mechatronics Forum International Conference, Karlstad, Sweden, June 16-18 2014

M. Rabiei, A. Gasparetto
A system for feature classification of emotions based on Speech Analysis; Applications to Human-Robot Interaction
Proceedings of ICRoM 2014- The 2nd International Conference on Robotics and Mechatronics, Tehran (Iran), 15-17 October, 2014, pp. 1-6

P. Boscariol, A. Gasparetto
Model-based trajectory planning for flexible link mechanisms with bounded jerk
Robotics and Computer Integrated Manufacturing, Volume 29, Issue 4, August 2013, Pages 90-99

A. Gasparetto , S. A. H. Kiaeian Moosavi, P. Boscariol and M. Giovagnoni
Experimental Validation of a Dynamic Model for Lightweight Robots
International Journal of Advanced Robotic Systems, Volume 10, March 2013, pp. 182: 1-7

A. Gasparetto, S. Miani
A system for automatic orientation of items for robotic manipulation purposes
Tehnička Dijagnostika / Technical Diagnostics, vol. 12, n. 4, 2013, pp. 7-11

P. Boscariol, A. Gasparetto, R. Vidoni, A. Romano
A model-based trajectory planning approach for flexible-link mechanisms
Proc. of ICM 2013 - IEEE International Conference on Mechatronics, Vicenza (ITALY) - February 27-28 , March 1 2013

M. Rabiei, A. Gasparetto
Design of an architecture for human-robot interaction based on human perception
Proceedings of the First RSI/ISM International Conference on robotics and Mechatronics (ICRoM 2013), Teheran (Iran), February 13-15, 2013

P. Boscariol, A. Gasparella, A. Gasparetto, N. Lever, D. Richiedei, A. Trevisani R. Vidoni
Energy efficiency and smoothness in robotics trajectory planning: numerical simulation and comparison
Proc. of the Austrian Robotics Workshop (ARW 2013), Vienna (Austria), May 23-24, 2013, pp. 7-12

P. Boscariol, A. Gasparetto, R. Vidoni
Robust trajectory planning for flexible robots
Proc. of the 2013 ECCOMAS Multibody Dynamics Conference, Zagreb (Croatia), 1-4 July, 2013, pp. 293-294

A. Gasparetto, P. Boscariol, A. Lanzutti, R. Vidoni
Trajectory planning in Robotics
Mathematics in Computer Science, Volume 6, Issue 3, September 2012, pp. 269-279, DOI 10.1007/s11786-012-0123-8

A. Gasparetto, A.Lanzutti, R.Vidoni, V.Zanotto
Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning
Robotics and Computer-Integrated Manufacturing, Volume 28, Issue 2, April 2012, pp. 164-181, DOI: 10.1016/j.rcim.2011.08.003

P. Boscariol, A. Gasparetto, R. Vidoni
Jerk-Continous Trajectories For Cyclic Tasks
Proc. of ASME 2012 International Design Engineering Technical Conferences (IDETC), August 12-15 2012, Chicago, USA

P. Boscariol, A. Gasparetto, R. Vidoni
Planning continuous-jerk trajectories for industrial manipulators
Proc. of ESDA 2012 11^th Biennial Conference on Engineering System Design and Analysis, July 2-4 2012, Nantes, France

A. Gasparetto, R. Vidoni, D. Pillan, E. Saccavini
Automatic path and trajectory planning for robotic spray painting
Proceedings of Robotik 2012 - The 7th Conference in Robotics, Munich (Germany), May 21-22, 2012, pp. 211-216

A. Lanzutti
Smooth trajectory planning algorithms for industrial robots: an experimental evaluation
Annals of Faculty Engineering Hunedoara – International Journal of Engineering. Vol. XI-1 pp. 127-132 (2011)

R. Vidoni, F. Garcia-Sanchez, A. Gasparetto, R. Martinez-Bejar
An intelligent framework to manage robotic autonomous agents
Expert Systems with Applications, Vol 38(6), June 2011, pp. 7430-7439, DOI:10.1016/j.eswa.2010.12.080

R. Vidoni, A. Gasparetto
Efficient force distribution and leg posture for a bio-inspired spider robot
Robotics and Autonomous Systems Volume 59, Issue 2, February 2011, Pages 142-150, DOI: 10.1016/j.robot.2010.10.001

P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Experimental validation of minimum time-jerk algorithms for industrial robots
Journal of Intelligent & Robotic Systems, Volume 64, Number 2, November 2011, pp. 197-219, DOI: 10.1007/s10846-010-9533-5

A. Gasparetto A. Lanzutti R. Vidoni V. Zanotto
Validation of minimum time-jerk algorithms for trajectory planning of industrial robots
Journal of Mechanism and Robotics (Transactions of the ASME), Volume 3, Issue 3, n. 031003 (12 pages), August 2011, DOI: 10.1115/1.4004017

D. Zanotto, G. Rosati, and S. K. Agrawal
Modeling and control of a 3-dof pendulum-like manipulator
In Proceedings of the 2011 IEEE International Conference on Robotics and Automation ICRA 2011, pages 3964-3969, Shanghai, China, May 9-13 2011

P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Sistema di controllo Real-Time per un robot cartesiano
Proc. of NIDays2011, Milano, 23 Febbraio 2011

A. Gasparetto, R. Vidoni, D. Pillan , E. Saccavini
Optimal trajectory generator for painting robots
Proc. of the 9th International Conf. on Advanced Manufacturing Systems and Technology AMST '11, Mali Losinj (Croatia), June 16-17 2011, pp.237-248

P. Boscariol, A. Canderan, A. Gasperetto, R. Vidoni
An advanced manufacturing system based on MARS (multi agent robotic system)
Proc. of the 9th International Conf. on Advanced Manufacturing Systems and Technology AMST '11, Mali Losinj (Croatia), June 16-17 2011, pp.295-306

A.Gasparetto and V.Zanotto
Optimal trajectory planning for industrial robots
Advances in Engineering Software, Volume 41, Issue 4, April 2010, Pages 548-556

A. Gasparetto, R. Vidoni, T. Seidl
Passive control of attachment in legged space-robots
Applied Bionics and Biomechanics, Vol. 7, Issue 1, March 2010, pp. 279-276, doi:10.1080/11762320902940219

A. Gasparetto, R. Vidoni; D. Pillan; E. Saccavini
Optimal Path Planning for Painting Robots
Proceedings of the 10th Biennial Conference on Engineeing and System Design and Analysis - ESDA2010-24259, July 12-14

R. Vidoni
A multi agent robotic system for simulation and control of a manufacturing process
Proceeding of International Symposium on Advanced Engineering & Applied Management, 4-5 November, 2010, Hunedoara, ROMANIA, pp. 51-58

A. Gasparetto, R. Vidoni
Foot-force distribution and leg posture analysis for a spider-inspired climbing robot
Proceedings of the First International Conference on Applied Bionics and Biomechanics - ICABB 2010. Venezia, October 14-16, 2010

A. Gasparetto, R. Vidoni, T. Seidl
A mechanical model for the adhesion of spiders to nominally flat surfaces
Journal of Bionic Engineering, vol. 6, June 2009, pp. 135-142

Boschetti G., Richiedei D., Trevisani A.
Real-time implementation of a delayed reference controller (DRC) for swing control of a cable-suspended load
Proocedings of the ECCOMAS Thematic Conference on Multibody Dynamics, 2009 Warzawa (Poland).

F. Garcìa-Sànchez, R. Vidoni, R. Martìnez-Béjar, A. Gasparetto, R. Valencia-Garcìa, J. T. Fernàndez-Breis
Bridging the Gap Between the Logical and the Physical Worlds
Proceedings of the 7th International Conference on Practical Applications of Agents and Multi-Agent Systems (PAAMS’09), Salamanca (Spain), March 22-27

A.Gasparetto and V.Zanotto
A technique for time-jerk optimal planning of robot trajectories
Robotics and Computer-Integrated Manufacturing, Volume 24, Issue 3, June 2008, Pages 415-426

G. Boschetti, A. Gasparetto, V.Zanotto
Singularity analysis and performance indexes for parallel manipulators
Acta Mechanica Slovaca, vol. 2-A, June 2008, pp.95-104

19. T. Slama, A. Trevisani, D. Aubry, R. Oboe e F. Kratz
Experimental Analysis of an Internet-Based Bilateral Teleoperation System with Motion and Force Scaling Using a Model Predictive Controller
IEEE Transactions on Industrial Electronics, 55 (9), (2008) 3290-3299

T. Seidl, R. Vidoni and A. Gasparetto
Spider attachment for space applications
Proceedings of the 9th Intl Bionics Conf. Patents from Nature, Bremen (Germany), November 7-8, 2008

A. Gasparetto, R. Vidoni, V. Zanotto
Optimal planning of Robotic Trajectories
Proceedings of the 8th International Conference on Advanced Manufacturing Systems and Technology AMST '08, Udine, June 12-13 2008

A. Gasparetto, R. Vidoni, T. Seidl
Kinematic study of the spider locomotor system in a biomimetic perspective
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), Nice (France), September 22-26 2008

T. Slama, A. Trevisani, D. Aubry, e R. Oboe
Experiments Results on Robustness Effects of a New Prefilter in Generalized Predictive Control: Application to Bilateral Teleoperation Systems
Proceedings of the “AMC’08 The 10th International Workshop on Advanced Motion Control”, 26-28 Marzo 2008, Trento (Italia)

T. Seidl, R. Vidoni and A. Gasparetto
Spider attachment for space applications
Proceedings of the 9th Intl Bionics Conf. Patents from Nature, Bremen (Germany), November 7-8, 2008

15. R. Oboe, T. Slama, e A. Trevisani
Telerobotics through Internet: Problems, Approaches and Applications
Analele Universitatii din Craiova. Mecanica, Electrotehnica, 4, (2007) 81-90.

G. Rosati, A. Rossi, G. Boschetti, and A. Trevisani
First experimental results of an integrated robotic system for haptic teleoperation
In Proceedings of the 2007 IEEE International Symposium on Industrial Electronics, Vigo, Spain, June 4-7 2007

G. Boschetti and R.Caracciolo
A simplified kinematic model for parallel linear manipulator
XVIII Congresso AIMETA di Meccanica Teorica e Applicata, Brescia, 11-14 settembre 2007

A. Gasparetto and V. Zanotto
A new method for smooth trajectory planning of robot manipulators
Mechanism and Machine Theory, Volume 42, Issue 4, April 2007, Pages 455-471

13. A. Trevisani, P. Gallina e R. L. Williams II
Cable-Direct-Driven Robot (Cddr) with Passive Scara Support: Theory and Simulation
Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, 46 (2006) 73-94

R. Caracciolo, G. Boschetti, N. De Rossi, G. Rosati, and A. Trevisani
A Master-Slave Robotic System for Haptic Teleoperation
Proceedings of the 8th Biennial ASME Conference on Engineering Systems Design and Analysis ESDA 2006

A. Biason, G. Boschetti, A. Gasparetto, A. Puppatti and V. Zanotto
Design of a robotic vision system
Accepted for publication in Proceedings of the 7th Int. conf. AMST Advanced Manufacturing Systems and Technology 9-10 June 2005 in Udine - Italy

G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
A control scheme for 5 d.o.f. haptic feedback guided teleoperation
In Proceedings of the 1st IASME International Conference on Advances in Mechanics and Mechatronics (483-145), Udine, Italy, March 2004

G. Boschetti, G. Rosati and V. Zanotto
A network control server for haptic teleoperation
In Proceedings of the 7th Int. Conf. ROBTEP 2004 - Automation/Robotics in theory and practice, pages 59–65, Vysn Ruzbachy, Slovak Republic, May 2004

M. Dalla Valle, P. Gallina and A. Gasparetto
Mirror Synthesis in a Mechatronic System for Superficial Defect Detection
ASME Transactions on Mechatronics, 8 (3):309-317, 2003

G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
A novel approach to haptic/telerobotic spine surgery
In Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, Cassino (FR), Italy, May 2003

A. Gasparetto, M. Giovagnoni, G. Rosati, A. Trevisani, and V. Zanotto
Design and construction of a slave robot for telerobotic spine surgery
In Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, Cassino (FR), Italy, May 2003

R. L. Williams II, B. E. Carter, P. Gallina, and G. Rosati
Dynamic model with slip for wheeled omni-directional robots
IEEE Transactions on Robotics and Automation, 18(3):285–293, 2002

R. L. Williams II, B. E. Carter, P. Gallina, and G. Rosati
Wheeled omnidirectional robot dynamics including slip
In Proceedings of the ASME Design Engineering Technical Conferences DETC2002/MECH-34221, Montreal, Canada, September 2002

G. Rosati
A new single frame pose estimation device for robotics: theory and simulation results
In Proceedings of RoManSy 2002, pages 279–288, Udine, Italy, July 2002

A. Gasparetto and G. Rosati
Design and implementation of a Cartesian robot
In Proceedings of AMST 2002, pages 539–544, Udine, Italy, July 2002

P. Gallina, A. Gasparetto
A Technique to Analytically Formulate and to Solve the 2-Dimensional Constrained Trajectory Planning Problem for a Mobile Robot
Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, vol. 27, n. 3, March 2000, pp. 237-262

R. Caracciolo, P. Gallina, A. Gasparetto
Automatic Alignment of Workpieces for Robotic Manipulation Using a Conveyor Belt and Fixed Flat Fences
Proc. of the 5th International Conference on Advanced Manufacturing Systems and Technology AMST , Udine, 3-4 June1999

R. Caracciolo, P. Gallina, A. Gasparetto, A. Rossi
A New, Transportable and Low Cost Method for Robot Calibration
Proceedings of the Tenth IFToMM World Congress on the Theory of Machines and Mechanisms, Oulu, Finland, 20-24 June1999

P. Gallina, A. Gasparetto
A Friction-Based Single-Body Dynamic Model of a Mobile Robot
Proc. of the 3rd. World Multiconf. on Systemics, Cybernetics and Informatics , Orlando, USA, 31 July-4 Aug. 1999

P. Gallina, A. Gasparetto, A. Rossi
A Teleoperated Tracked Vehicle for Inspection Inside a RFX Machine
Proceedings of the European Control Conference, Karlsruhe, Germany, 31 Aug. - 3 Sept. 1999

R. Caracciolo, A. Gasparetto, M. Morandin, S. Santi
Robotized Stringing of a Drift Chamber in a Virtual Environment
Proc. of the ISMCR Topical Workshop on Virtual Reality and Advanced Man-Machine Interfaces, Tampere (Finland), 1-6 June 1997

R. Caracciolo, P. Gallina, A. Gasparetto, A. Rossi
A Teleoperated Robot for Servicing inside a RFX Machine
Proceedings of the Sixth International Workshop on Robotics in Alpe-Adria-Danube Region, Cassino, 26-28 June 1997

R. Caracciolo, A. Gasparetto
"RoboNav": A Flexible User Friendly System for Navigation of an Autonomous Vehicle in Factory Environments
Proc. of the Second ECPD Int. Conf. on Advanced Robotics, Intelligent Automation and Active Systems, Vienna, 26-28 Sept. 1996

R.Caracciolo, F.Fanton, A.Gasparetto
A Low Cost Laser Based System for Mobile Robot Localization
Proceedings of the Fifth IMEKO International Symposium on Measurement and Control in Robotics, Bratislava, 12-16 June 1995

F. Fanton, A. Gasparetto, M. Giovagnoni
A Technique for Position Estimation of an Autonomous Vehicle Using Reflective Beacons
Proceedings of the Ninth IFToMM World Congress on the Theory of Machines and Mechanisms, Milan, 29 Aug. - 2 Sept. 1995

R. Caracciolo, E. Ceresole, A. Gasparetto, A. Rossi
A Modular Cell Structure for Robotized Assembly
Proceedings of the First ECPD International Conference on Advanced Robotics and Intelligent Automation, Athens, 6-8 Sept. 1995

A. Gasparetto, A. Rossi, I.A. Robb
Control System Design and Dynamic Simulation of an Autonomous Vehicle for Factory Automation
Proceedings of the 20th IEEE International Conference on Industrial Electronics, Control and Instrumentation, Bologna, 5-9 Sept. 1994

A. Gasparetto, A. Rossi
An Autonomous Vehicle for a Flexible Manufacturing Cell
Proceedings of the Third IMEKO International Symposium on Measurement and Control in Robotics,Torino, 21-24 Sept. 1993

Home | Info | Research | People | Map | Italian