Matteo Parigi Polverini

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Classical control approaches to robot force control have been extensively addressed by research in the last decades and are now considered a paradigm when dealing with force control for industrial robots. With this respect, the present paper exploits the capability of state-of-the-art Quadratic Programming (QP) solvers to specify a simple and intuitive(More)
This paper addresses the problem of collision avoidance in human-robot interaction. To this end, we introduce the concept of kinetostatic safety field, a novel safety assessment about the risk in the vicinity of a rigid body (including a robot link or a human body part). The safety field depends on the position and velocity of the body but it is also(More)
Enabling human-robot collaboration raises new challenges in safety-oriented robot design and control. Indices that quantitatively describe human injury due to a human-robot collision are needed to propose suitable pre-collision control strategies. This paper presents a novel model-based injury index built on the concept of dissipated kinetic energy in a(More)
Fast and sensorless peg-in-hole insertion is a challenging task for a robotic manipulator. In order to deal with the peg-in-hole insertion problem without any need of an external force/torque sensor, this paper proposes to actively accomplish compliance in the insertion task relying on an admittance based control. This is combined with a real-time(More)
This paper addresses the problem of robot implicit force control by means of set invariance theory. The proposed control law improves the invariance control approach by avoiding the definition of a nominal stabilizing controller, while simultaneously ensuring the absence of output overshoots with respect to the reference. The resulting set invariance based(More)
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