CHE RISULTATO !!! Sarà che succedono tutte oggi. Sulla Nazione di oggi, il Rettore rende noto che Ingegneria a Siena va forte !!! Ingegneria si piazza ottava su una classifica di 68 Atenei per la Valutazione della Qualità della Ricerca, realizzata dall’agenzia nazionale ANVUR.
È IMPORTANTE STUDIARE A SIENA !!! Dobbiamo convincerci che non è andando a studiare altrove che si risolvono i problemi !!! L’Ateneo è un bene importante per la nostra città e va fatto crescere con i nostri ragazzi !!!
Summarizing the #sirslab research in a keynote. Finally I learned how to ‘assemble’ the slides and the recorded video of the talk at ICRA 2016 in Stockholm #icra2016. It’s a 22 minutes video: the first part is on wearable haptics and the second part on the supernumerary robotic sixth finger for stroke patients. _DP
The FB album
Tokyo, early December: The SIRSLab – Robotics and Systems Lab of Department of Information Engineering and Mathematics, University of Siena – won the prestigious AsiaHaptics Silver Award for their researches on wearable robotics and the applications of virtual reality, named “A novel 3RRS wearable fingertip cutaneous device for virtual interaction”.The team, whose members are Francesco Chinello, Claudio Pacchierotti, Monica Malvezzi, Guido Gioioso, Samanta Scala, Giovanni Spagnoletti, Biagio Peccerillo and the coordinator, Professor Domenico Prattichizzo, demonstrated the Demo at Asia Haptics, an innovative international conference for the haptics fields, that this year took place in Tokyo, Japan. The conference had accepted almost a hundred demonstrations by the most influential research groups in the field of haptics from all over the world, among which the University of Siena stood out, winning second place. The research project from Siena consists of a robotic sensing glove able to apply cutaneous forces to those who wear it, in order to make them sense the tactile consistency of virtual or remote objects.
“This silver medal is worth it as much as a gold one, especially considering that two different demos by the SIRSLab were accepted at the conference” said Professor Prattichizzo, who added “the success of our proposal results from the contribution of every single member of the team, whose hard work and talent has turned a brave initial proposal into a successful experiment”.
This is the screencast of the talk that Domenico Prattichizzo gave in IEEE IROS 2016 in Korea to present the IROS paper:
M. Mohammadi, A. Franchi, Davide Barcelli, and D. Prattichizzo,
“Cooperative aerial tele-manipulation with haptic feedback”,
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS), Daejeon, Korea, 2016, pp. 5092-5098.
Summary of the paper: In this paper, we propose a bilateral tele-operation scheme for cooperative aerial manipulation in which a human operator drives a team of Vertical Take-Off and Landing (VTOL) aerial vehicles, that grasped an object beforehand, and receives a force feedback depending on the states of the system.
In this paper, we propose a bilateral tele-operation scheme for cooperative aerial manipulation in which a human operator drives a team of Vertical Take-Off and Landing (VTOL) aerial vehicles, that grasped an object beforehand, and receives a force feedback depending on the states of the system. For application scenarios in which dexterous manipulation by each robot is not necessary, we propose using a rigid tool at- tached to the vehicle through a passive spherical joint, equipped with a simple adhesive mechanism at the tool-tip that can stick to the grasped object. Having more than two robots, we use the extra degrees of freedom to find the optimal force allocation in term of minimum power and forces smoothness. The human operator commands a desired trajectory for the robot team through a haptic interface to a pose controller, and the output of the pose controller along with system constraints, e.g., VTOL limited forces and contact maintenance, defines the feasible set of forces. Then, an on-line optimization allocates forces by minimizing a cost function of forces and their variation. Finally, propeller thrusts are computed by a dedicated attitude and thrust controller in a decentralized fashion. Human/Hardware in the loop simulation study shows efficiency of the proposed scheme, and the importance of haptic feedback to achieve a better performance.
VIDEO ON YOUTUBE
Check out the video on youtube:
The paper is here linked