Remo Zaccaria

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Motor control in primates relates to a system which is highly redundant from the mechanical point of view--redundancy coming from an imbalance between the set of independently controllable variables and the set of system variables. The consequence is the manifestation of a broad class of ill-posed problems, problems for which it is difficult to identify(More)
Motor control in primates relates to a system which is highly redundant from the mechanical point of view — redundancy coming from an imbalance between the set of independently controllable variables and the set of system variables. The consequence is the manifestation of a broad class of ill-posed problems, problems for which it is difficult to identify(More)
An important factor in trying to capture the complexity of many manipulation problems is the notion of Output Motor Impedance, i.e., the relationship between a set of disturbing forces and the resulting variation in arm configuration. The functional significance of such force/displacement characteristics is investigated, showing how several aspects of(More)
An important factor in trying to capture the complexity of many manipulation problems is the notion of Output Motor Impedance, i.e., the relationship between a set of disturbing forces and the resulting variation in arm configuration. The functional significance of such force/displacement characteristics is investigated, showing how several aspects of(More)
A study of the fundamental principles upon which manipulation dexterity is based cannot help mixing robotic and neurophysiological concepts. A preliminary step in this study consists of trying to understand the complexity of manipulation dynamics. Though complexity shows itself in the massive number of elements of kinematic and dynamic equations, the(More)
HARP (Hybrid Action Representation and Planning), a prototype high-level system for computer-aided composition, is introduced. HARP represents and manipulates music knowledge using a twofold formalism. An object-oriented concurrent environment, the analogical subsystem, provides procedures to manage the sound itself (samples, codes, and algorithms) and(More)
Self-localization plays a fundamental role in all the activities of a service mobile robot, from simple point-to-point navigation to complex fetch-and-carry tasks. In particular, in presence of an environment which changes dynamically, a trade-off must be found between apparently opposite characteristics: uniqueness (i.e. the ability to univocally recognize(More)
Integration of handicapped children in a normal school environment is a worldwide trend, but it creates major problems for the teaching institution because, obviously, the standard approach, tailored for a ‘normal’ population of pupils cannot work when the population is extended to include multiple categories of particular needs. Another worldwide trend is(More)
We present laser interference patterning of three-dimensional photonic lattice structures with three-step three-beam irradiation. In contrast to one-step four-beam interference patterning, the proposed method makes it possible to continuously tune the lattice constant and the photonic band gap without distortion of the lattice shape. We analytically show(More)
Research in autonomous robotics relies on simulators for two main reasons: simulators provide support for the fast prototyping of software algorithm, and they often are a "surrogate" in multi-robot systems when it is not feasible to build a whole robot team to carry out research on coordinated/cooperative behaviours. This paper describes AE-Sim, a simulator(More)