A letter published in the IEEE Robotics and Automation Letters
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The letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging appli- cation in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. Numerical tests show the performance and the robustness of the proposed solution.
A paper published in the IEEE Transactions on Robotics
This paper presents a new procedure to design a control law using the classical interconnection and damping as- signment technique within the passivity-based port-Hamiltonian framework. The sought goal is to reduce the complexity of solving the so-called matching equations. The proposed approach is applied to two case studies of planar rolling nonprehensile manipulation. Namely, the ball-and-beam and the eccentric disk- on-disk. The performance of the resulting controllers is illustrated through both simulations and experimental results, showing the applicability of the design in a real set-up.
A paper published in the IEEE Robotics and Automation Magazine
The goal of this work is to disseminate the results achieved so far within the RODYMAN project related to planning and control strategies for robotic nonprehensile manipulation. The project aims at advancing the state of the art of nonpre- hensile dynamic manipulation of rigid and deformable objects to future enhance the possibility of employing robots in anthropic environments. The final demonstrator of the RODYMAN project will be an autonomous pizza maker. This article is a milestone to highlight the lessons learned so far and pave the way towards future research directions and critical discussions.