Istituto di Robotica
e Macchine Intelligenti

Diamo corpo all'Intelligenza Artificiale

Lista dei Paper

Posters Slot 1 – Venerdì 8 Ottobre, Mattina

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Paper Title & Authors

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12 Human activity modelling and recognition for collaborative robotics based on hand-object interaction

Niccolo Lucci, Andrea Monguzzi, Andrea Maria Zanchettin and Paolo Rocco

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17 A Novel Tactile Device for Safe Human-Robot Interaction in Industrial Scenarios

Francesco Grella, Giulia Baldini, Roberto Canale, Si Ao Wang, Alessandro Albini, Michal Jilich, Giorgio Cannata and Matteo Zoppi

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19 Framework for collaborative human-robot flexible manufacturing applications

Pangcheng David Cen Cheng, Fiorella Sibona and Marina Indri

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23 Flexible Scheduling and Wearable Haptics for Human-Robot Collaborative Assembly

Riccardo Maderna, Maria Pozzi, Andrea Zanchettin, Paolo Rocco and Domenico Prattichizzo

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24 A Smart Workcell for Human-Robot Cooperative Assembly of Carbon Fiber Parts

Stefano Ghidoni, Matteo Terreran, Daniele Evangelista, Christian Eitzinger, Sebastian Zambal, Enrico Villagrossi, Nicola Pedrocchi, Nicola Castaman and Marcin Malecha

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29 Robot-Assisted Prostate Biopsy with PROST

Bogdan Maris, Maria-Camilla Fiazza and Paolo Fiorini

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30 Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands

Roberto Meattini, Davide Chiaravalli, Gianluca Palli and Claudio Melchiorri

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31 Deep learning for robotic prostate biopsy

Bogdan Maris, Luigi Palladino and Paolo Fiorini

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36 Study on Body Positioning of Haptic Feedback in Simulated Human-Robot Cooperative Tasks

Leonardo Franco, Domenico Prattichizzo and Gionata Salvietti

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43 TENANT: a Tool for Easily Modeling Task Planning Problems for Human-Robot Collaboration

Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico and Andrea Orlandini

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44 Toward human-like motion generation in the Cartesian domain with robotic manipulators

Marco Baracca, Paolo Bonifati, Ylenia Nisticò, Vincenzo Catrambone, Gaetano Valenza, Antonio Bicchi, Giuseppe Averta and Matteo Bianchi

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47 Exploiting robotics to assess the effects of fatigue on the human wrist joint

Giulia Aurora Albanese, Valeria Falzarano, Michael Wr Holmes, Pietro Morasso and Jacopo Zenzeri

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54 3D-AID : a new approach for customized upper-limb prosthesis and orthosis design

Fabrizio Taffoni, Nevio Luigi Tagliamonte, Francesca Cordella, Emanuele Gruppioni and Loredana Zollo

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59 Variable admittance control for hand exoskeletons in virtual reality-based rehabilitation tasks

Alberto Topini, William Sansom, Lorenzo Bartalucci, Nicola Secciani, Benedetto Allotta and Alessandro Ridolfi

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63 Robot-assisted Procedure for Pedicle Screw Fixation

Clemente Lauretti, Francesca Cordella, Christian Tamantini, Cosimo Gentile, Francesco Scotto di Luzio and Loredana Zollo

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64 A Microscopic Human-Inspired Adaptive Cruise Control for Eco-Driving

Marco Mirabilio, Alessio Iovine, Elena De Santis, Maria Domenica Di Benedetto and Giordano Pola

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70 An Enactive Approach to Artificial Hand

Laura Corti

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79 HeAL9000: an Intelligent Rehabilitation Robot for Physical and Cognitive Interaction

Francesco Scotto di Luzio, Christian Tamantini, Francesca Cordella, Claudiu D. Hromei, Lorenzo Cristofori, Danilo Croce, Roberto Basili and Loredana Zollo

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87 Telepresence Robotics and AI-Based Services for Older Adults @Home Assistance

Gloria Beraldo, Riccardo De Benedictis, Rami Reddy Devaram, Amedeo Cesta and Gabriella Cortellessa

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89 Learn to drive a BMI based intelligent wheelchair

Luca Tonin, Gloria Beraldo, Stefano Tortora and Emanuele Menegatti

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Posters Slot 2 – Venerdì 8 Ottobre, Pomeriggio

Paper No.

Paper Title & Authors

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Paper

4 Design of an Impact/Force Switching Controller 

Loris Roveda, Daniele Riva, Giuseppe Bucca and Dario Piga

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9 Anytime informed path re-planning and optimization for human-robot collaboration

Cesare Tonola, Marco Faroni, Nicola Pedrocchi and Manuel Beschi

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11 Flexible robotic strategy for the assembly of ring-shaped elastic objects

Andrea Monguzzi, Marco Maiocchi, Andrea Maria Zanchettin and Paolo Rocco

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15 A Novel Framework for Multi-Agent Navigation in Human-Shared Environments

Manuel Boldrer, Daniele Fontanelli, Alessandro Antonucci and Luigi Palopoli

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16 Pushing with a group of mobile robots

Filippo Bertoncelli and Lorenzo Sabattini

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20 Real-time trajectory scaling algorithms for enhanced path following of robot manipulators

Marco Faroni, Manuel Beschi and Nicola Pedrocchi

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25 A Human-Centered Dynamic Task Planning Approach for Human-Robot Collaboration

Andrea Pupa and Cristian Secchi

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28 Underactuated Cable-Driven Parallel Robots: Exploiting and Controlling the Free Motion

Edoardo Idà and Marco Carricato

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40 Reactive collision avoidance for the teleoperation of a micro aerial vehicle

Raffaele Brilli, Maria Pozzi, Folco Giorgetti, Mario Luca Fravolini, Paolo Valigi, Domenico Prattichizzo and Gabriele Costante

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55 A ROS-based framework to boost the manipulation tasks programming and execution

Enrico Villagrossi, Nicola Pedrocchi, Marco Faroni, Michele Delledonne and Manuel Beschi

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58 On-line Optimal information-aware path planning with actuation noise and intermittent noisy measurements

Olga Napolitano, Daniele Fontanelli, Lucia Pallottino and Paolo Salaris

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60 Optimal Trajectory Planning with Safety Constraints

Alessandro Palleschi, Mazin Hamad, Saeed Abdolshah, Manolo Garabini, Sami Haddadin and Lucia Pallottino

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65 Whole-Body Balancing Control of Two-Wheeled Humanoids

Grazia Zambella, Gianluca Lentini, Manolo Garabini, Giorgio Grioli, Manuel G. Catalano, Alessandro Palleschi, Lucia Pallottino, Antonio Bicchi, Alessandro Settimi and Danilo Caporale

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66 Trajectory Tracking for Articulated Soft Robots: an Iterative Learning Control Approach

Franco Angelini, Riccardo Mengacci, Michele Pierallini, Cosimo Della Santina, Manuel G. Catalano, Giorgio Grioli, Manolo Garabini and Antonio Bicchi

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67 Controllability For Underactuated Compliant Arms

Michele Pierallini, Franco Angelini and Manolo Garabini

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73 Identification of Robot Dynamics from Motor Currents/Torques with Unknown Signs

Marco Pennese, Claudio Gaz, Marco Capotondi, Valerio Modugno and Alessandro De Luca

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75 MPC-Based Gait Generation for Humanoids: from Walking to Running

Filippo Maria Smaldone, Nicola Scianca, Leonardo Lanari and Giuseppe Oriolo

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80 Motion Control of Redundant Robots with Generalised Inequality Constraints

Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir and Alessandro De Luca

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82 Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain

Angelo Bratta, Niraj Rathod, Mario Zanon, Octavio Villarreal, Alberto Bemporad, Claudio Semini and Michele Focchi

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93 ChoiRbot: New Toolkits for Cooperative Robotics in the ROS 2 Framework

Andrea Testa, Andrea Camisa and Giuseppe Notarstefano

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Posters Slot 3 – Sabato 9 Ottobre, Mattina

Paper No.

Paper Title & Authors

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Grasping Learning for Service Robots

Luca Pozzi, Marta Gandolla, Filippo Pura, Marco Maccarini, Alessandra Pedrocchi, Francesco Braghin, Dario Piga and Loris Roveda

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10 A Multi-view Framework for Human Parsing in Human-Robot Collaboration scenarios

Matteo Terreran, Leonardo Barcellona, Daniele Evangelista, Emanuele Menegatti and Stefano Ghidoni

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18 Cloud Services for Autonomous Interaction With Social Robots and Artificial Agents

Lucrezia Grassi, Carmine Tommaso Recchiuto and Antonio Sgorbissa

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21 Reimagine BiSeNet for Real-Time Domain Adaptation in Semantic Segmentation

Antonio Tavera, Carlo Masone and Barbara Caputo

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26 Regressive Convolutional Neural Network for ARTVA detection

Bruno Strano and Lorenzo Marconi

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38 Towards Dynamic Human-Robot Role Allocation based on Human Ergonomics Assessment

Elena Merlo, Edoardo Lamon, Marta Lorenzini, Fabio Fusaro, Alessandro Carfì, Fulvio Mastrogiovanni and Arash Ajoudani

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39 Self Contact: Enhancing Virtual Reality Experience Recovering Kinaesthetic Feedback

Nicole D’Aurizio, Tommaso Lisini, Alberto Villani and Domenico Prattichizzo

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49 A Mixed Reality Architecture for Human-Robot Collaboration

Simone Macciò, Alessandro Carfì and Fulvio Mastrogiovanni

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51 A Framework for Trust-Based Task Assignment in Cooperative Teams of Robots

Alberto Grillo, Carmine Recchiuto, Stefano Carpin and Antonio Sgorbissa

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52 MEUS: a framework for Management of Emergencies through Ubiquitous Sensing.

Mario Ciranni, Lucrezia Grassi and Antonio Sgorbissa

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56 Recognizing Italian Gestures with Wearable Sensors

Matteo Dicenzi, Linda Lastrico, Alessandro Carfì, Alessandra Sciutti, Fulvio Mastrogiovanni and Francesco Rea

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57 An Augmented Reality System for Human Operators in Search and Rescue Missions

Mykhailo Dmytrenko, Carmine Recchiuto and Antonio Sgorbissa

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61 Vision based robot-to-robot object handover

Monica Sileo, Michelangelo Nigro, Domenico Bloisi, Francesco Pierri and Fabrizio Caccavale

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76 A Robot Platform for Hyperspectral Imaging Applications in Smart Viticulture

Riccardo Bertoglio, Matteo Matteucci, Paolo Guadagna and Matteo Gatti

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77 Towards a fully automated procedure for crack detection in civil structures

Erika Pellegrino and Tania Stathaki

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78 Toward enabling iCub to detect lies in everyday life

Dario Pasquali, Francesco Rea and Alessandra Sciutti

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83 A pilot study towards the implementation of perceptual and motor adaptation in robots

Matilde Antonj, Joshua Zonca, Linda Lastrico, Maura Casadio and Alessandra Sciutti

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84 A Generative Model Towards Conditioned Robotic Object Manipulation

Luca Garello, Linda Lastrico, Fulvio Mastrogiovanni, Alessandra Sciutti, Nicoletta Noceti and Francesco Rea

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85 Deep learning-based localization of the biliary tract in laparoscopic images acquired during surgical robotic procedures

Cristina Iacono, Sara Moccia, Aldo Marzullo, Elena De Momi, Umberto Bracale and Fanny Ficuciello

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86 Abstraction: A Framework for Knowledge Transfer Between Domains

Antonio Loquercio and Davide Scaramuzza

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Posters Slot 4 – Sabato 9 Ottobre, Pomeriggio

Paper No.

Paper Title & Authors

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5 Surface-aware Ultra Violet disinfection through a mobile manipulator

Andrea Borgese, Giorgio Grassi, Dario Calogero Guastella, Giuseppe Sutera and Giovanni Muscato

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6 A Drone-Assisted 3D Printing by Crane Structures in Construction Industry

Fabio Parisi, Agostino Marcello Mangini, Maria Pia Fanti and Nicola Parisi

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7 Paquitop.arm: a camera-based mobile manipulator for indoor assistance

Luigi Tagliavini, Andrea Botta, Giovanni Colucci, Paride Cavallone, Luca Carbonari and Giuseppe Quaglia

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14 Robotic Wires Manipulation for Switchgear Cabling and Wiring Harness Manufacturing

Kevin Galassi and Gianluca Palli

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27 The Italian project SUONO: preliminary results on underwater manipulation tasks

Edoardo Topini, Alessandro Bucci, Jonathan Gelli, Alberto Topini, Alessandro Ridolfi and Benedetto Allotta

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32 The PRISMA Hand II: A Sensorized Robust Hand for Adaptive Grasp and In-Hand Manipulation

Avinash Kumar Singh, Rocco Moccia and Fanny Ficuciello

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33 Hybrid Self-Reconfigurable Platform for Inspection: The Crawler Unit

Sergio Leggieri, Carlo Canali, Roberto Gagliardi, Ferdinando Cannella and Darwin Caldwell

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35 Plant-inspired Remote Controllable Snap-Fastener for Robotic Micromanipulation

Isabella Fiorello, Fabian Meder and Barbara Mazzolai

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37 Kinematic Intrinsic Null-Space Motor Control for Human Bodily Augmentation

Tommaso Lisini Baldi, Nicole D’Aurizio and Domenico Prattichizzo

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41 Extensions of POMCP Planning and Applications to Robotic and Cyber-physical Systems

Alberto Castellini, Enrico Marchesini, Giulio Mazzi, Federico Bianchi, Maddalena Zuccotto and Alessandro Farinelli

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45 Design of a wearable haptic device for hand palm cutaneous feedback

Mihai Dragusanu, Alberto Villani, Domenico Prattichizzo and Monica Malvezzi

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46 BRILLO: Investigating the Complex Role of a Robot in the Service Industry

Alessandra Rossi and Silvia Rossi

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53 Human-robot cooperative grasping of large objects

Sara Marullo, Maria Pozzi, Domenico Prattichizzo and Monica Malvezzi

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62 An Integrated Robotic Depalletizing System for Supermarkets’ Backrooms

Pierluigi Arpenti, Riccardo Caccavale, Giuseppe Andrea Fontanelli, Vincenzo Lippiello, Gianmarco Paduano, Bruno Siciliano and Luigi Villani

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68 Towards Robotic Environmental Monitoring

Franco Angelini, Riccardo Mengacci and Manolo Garabini

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69 Improved tracking and docking of Industrial Mobile Robots through UKF vision based kinematics calibration

Stefano Mutti, Nicola Pedrocchi, Vito Renò and Massimiliano Nitti

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81 Virtual Prototyping of a Compliant Robotic Wrist

Mario Baggetta, Giovanni Berselli, Gianluca Palli and Claudio Melchiorri

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88 Local Planners with Deep Reinforcement Learning for Indoor Autonomous Navigation

Mauro Martini, Vittorio Mazzia, Simone Angarano, Dario Gandini and Marcello Chiaberge

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90 First Field Tests of a Legged Robot in a Vineyard

Claudio Semini, Angelo Bratta, Michele Focchi, Matteo Gatti, Stefano Poni and Victor Barasuol

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