Beside project coordination, this research unit is involved in the workpackages PLAN and CONT.

We consider modeling and control problems for robotic devices with variable actuation/transmission compliance, in particular the design and test of nonlinear trajectory tracking and regulation laws for the simultaneous control of motion and stiffness. Moreover, we investigate methods for fault detection and isolation in nonlinear mechanical systems.

March 1, 2009: Submission of a joint paper by UNIROMA1 and UNIPI to IROS 2009
October 14, 2009: Presentation at IROS 2009

A. De Luca, F. Flacco, A. Bicchi, R. Schiavi, "Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, pp. 5487-5494, 2009.

May 16, 2009: Presentation of a paper by UNIROMA1 at ICRA 2009

A. De Luca, L. Ferrajoli, "A modified Newton-Euler method for dynamic computations in robot fault detection and control," 2009 IEEE International Conference on Robotics and Automation, Kobe, J, pp. 3359-3364, 2009.

September 15, 2009: Submission of a paper by UNIROMA1 to ICRA 2010
May 6, 2010: Presentation at ICRA 2010

F. Flacco, A. De Luca, "Multiple depth/presence sensors: Integration and optimal placement for human/robot coexistence," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, pp. 3916-3923, 2010.

September 18, 2009: Organization of the invited session on SICURA (including all partners) at SIDRA 2009 in Siracusa, with the presentation by UNIROMA1

A. De Luca, F. Flacco, "Decoupled motion-stiffness control and collision detection/reaction for variable stiffness devices."

March 30, 2010: Submission of a paper by UNIROMA1 to CDC 2010
December 15, 2010: Presentation at CDC 2010

A. De Luca, F. Flacco, "Dynamic gravity cancellation in robots with flexible transmissions," 49th IEEE Conference on Decision and Control, Atlanta, GA, pp. 288-295, 2010.

May 3, 2010: Presentation by UNIROMA1 at the ICRA 2010 Workshop on New Variable Impedance Actuators for Next Generation of Robots

A. De Luca, F. Flacco, "Dynamic gravity cancellation in robots with flexible transmissions: Constant, nonlinear, and variable stiffness," (one-page summary, pdf of the presentation).

July 2, 2010: Publication of the technical report 

A. De Luca, F. Flacco, "Dynamic gravity cancellation and regulation control in robots with flexible transmissions: Constant, nonlinear, and variable stiffness," DIS Tech. Rep. 11-2010, July 2010.

September 13, 2010: Organization of the invited session on SICURA (including all partners) at SIDRA 2010 in L'Aquila, with the presentation by UNIROMA1

F. Flacco, A. De Luca, "Stiffness estimation for flexible transmissions."

September 15, 2010: Submission of two papers by UNIROMA1 to ICRA 2011
May 10 and 12, 2011: Presentations at ICRA 2011

A. De Luca, F. Flacco, "A PD-type regulator with exact gravity cancellation for robots with flexible joints," 2011 IEEE International Conference on Robotics and Automation, Shanghai, PRC, pp. 317-323, 2011.

F. Flacco, A. De Luca, "Residual-based stiffness estimation in robots with flexible transmissions," 2011 IEEE International Conference on Robotics and Automation, Shanghai, PRC, pp. 5541-5547, 2011.

October 15, 2010: Submission of a paper by UNIROMA1 to IFAC World Congress 2011
August 31, 2011: Presentation at IFAC World Congress 2011

F. Flacco, A. De Luca, "Stiffness estimation and nonlinear control of robots with variable stiffness actuation," 18th IFAC World Congress, Milano, I, pp. - , 2011.