Gianni Vercelli

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This paper deals with the development of acoustic source localization algorithms for service robots working in real conditions. One of the main utilizations of these algorithms in a mobile robot is that the robot can localize a human operator and eventually interact with him/herself by means of verbal commands. The location of a speaking operator is(More)
This paper deals with the automation of dextrous grasping in a partly known environment using a stereo vision system and a multiingered hand mounted on a robot arm. EEective grasping requires a combination of sensing and planning capabilities: sensing to construct a well-adapted model of the situation and to guide the execution of the task, and planning to(More)
Observations of human grasping 8] 7] have shown two phases: during the reaching phase of grasping, the hand preshapes in order to prepare the \shape matching" with the object to grasp, that is the following adjusting phase. Planning grasping with dextrous robotics hands can not be summarized to these two phases. We have to split the grasping process into(More)
In this paper we propose a diagrammatic framework, as a way of performing spatial reasoning about dynamic scenarios. Our proposal is based on intrinsically dynamic models, that act as some sort of mental simulation, a "mental movie" of the evolution of the represented world. This simulation is generated starting from some reference "pictures", or(More)