ZOPPI , Matteo

Variable impedance actuators guarantee control performance for robots and robotic peripherals that are inherently safe to humans in their environment especially in cooperative tasks involving human-robot interaction. This paper presents a concept of variable impedance actuator using a combination of fluid and gas to realize the adaptation of...

The paper presents the novel concept of a reconfigurable swarm fixture. In existing fixturing systems the configuration of the supports cannot be modified significantly without removing the workpiece; reconfiguration is usually manual and time consuming. In contrast, in the system we are currently developing, supports are mobile agents...

The paper discusses the design process of a micro robotic wrist with two rotational and one translational degrees of freedom for needle laparoscopic surgery with 2.5 mm instrument diameter. At such size a few systems have been proposed with small workspace and limited degree of freedom. These functional limitations can be overcome by...

Variable impedance actuators (VIAs) are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user, and their ability to store and release energy in passive elastic elements. This paper describes the state of the all in the design of actuators using fluid and gas. The...

This paper describes the organization and teaching methodolodies for mechanics and robotics related subjects in the European Erasmus Mundus master programmes EMARO (European master in Advanced Robotics), and VIBOT (master courses in VIsion & roBOTics). The structure of these maters is over-viewed, the experience in designing and managing them...

The paper discusses a geometrical solution to perform the path analysis for an industrial 6R serial robot; the proposed solution represents, for the particular manipulator, an alternative to the general efficient numerical methods. The solution is conceived on the basis of a mechanism geometric decomposition, to calculate an input-output...

No description

No description

No description

No description

No description

The paper faces the problem of improving the flexibility of the manufacturing plant by rising the level of reconfigurability and the intelligence of pen-robotics. In particular the results obtained within the SwarmItFIX research project are presented. They refer to the concept and realization of robotic swarm fixturing for the support of...

No description

In robot-assisted minimally invasive laparoscopic surgery, dexterity has a high relevance. Ideally, the surgeon should feel like in open surgery with the robotic instrument able to perform all tool motions in a suitably wide workspace. The avoidance of the surrounding organs and the adaptation of the motion of the instrument to the space...

The paper describes ArmillEye, a 3-degree of freedom (DOF) flexible hybrid platform designed for agile underwater stereoptic vision. Effective telecontrol systems of remote operated vehicles require active and dexterous camera support in order to allow the operator to easily and promptly change the point of view, also improving the virtual...

The paper deals with the design and development of a diamond wire cutting system used as end-effector of an underwater robot for removal of offshore constructions. This system fulfills the sea-bottom reclamation duties required by the environmental protection acts related to dismissing of off-shore oil plants. The research results have been...

The paper proposes a fast method to solve the equilibrium problem of statically indeterminate walking and climbing robots with quasi-static locomotion and whatever number of legs and ropes connecting the robot frame to the ground. The configuration is instantaneously assigned. Legs and rope winches are imagined blocked. Due to the number of...

No description

No description

No description