MUSCOLO G. G.

The paper presents physical modeling, design, simulations, and experimentation on a novel Soft Underwater Artificial Skin (SUAS) used as tactile sensor. The SUAS functions as an electrostatic capacitive sensor, and it is composed of a hyperelastic membrane used as external cover and oil inside it used to compensate the marine pressure....

The paper describes the methodology applied to the design of a climbing robot that has been conceived and studied to solve the real task of cleaning the wall surfaces of hospital and clinic nursing home environments. The robot is able to spray different cleaning and disinfecting liquids for preventing infections. This robot is light and simple...

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In the biped robotics domain, head oscillations may be extremely harmful, especially if the robot is teleoperated, since vibrations strongly reduce the operator's spatial awareness. In particular, undesired head oscillations occur in under-actuated robots, where springs and passive mechanisms are used to achieve a human-like motion. This paper...

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an...

We propose a cooperative research project aimed at designing and prototyping a new generation of personal flying robotic platform controlled by movements of the human body using a symbiotic human-robot-flight machine interaction. Motors with ducted fun propulsion and power supply, and a VSLAM system will be integrated in the final flight...