Davide Torielli

Istituto Italiano di Tecnologia | IIT · Humanoid and Human Centered Mechatronics

The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired task. In this context, developing an easy-to-learn and easy-to-use human-robot interface is paramount. Recent w...

This manuscript introduces a mobile cobot equipped with a custom-designed high payload arm called RELAX combined with a novel unified multimodal interface that facilitates Human–Robot Collaboration (HRC) tasks requiring high-level interaction forces on a real-world scale. The proposed multimodal framework is capable of combining physical interactio...

In recent years, several robotic end-effectors have been developed and made available in the market. Nevertheless, their adoption in industrial context is still limited due to a burdensome integration, which strongly relies on customized software modules specific for each end-effector. Indeed, to enable the functionalities of these end-effectors, d...

The teleoperation of robots with human-like capabilities may pose significant challenges to the human operator due to the kinematic complexity and redundancy of these robots. Bimanual telemanipulation represents such a challenging task that requires precise coordination of the two arms to perform a stable bimanual grasp on an object and eventually...

The teleoperation of mobile manipulators may pose significant challenges, demanding complex interfaces and causing a substantial burden to the human operator due to the need to switch continuously from the manipulation of the arm to the control of the mobile platform. Hence, several works have considered to exploit shared control techniques to over...

Recent years have shown a growing demand toward automation in the industry and other contexts. To follow this trend, the research has to face some challenges to exploit the capabilities of complex robotic systems. Heavy redundant platforms, like dual arm manipulators, mobile robots, and legged systems, can help in accomplishing always more difficul...

Teleoperation permits to control robots from a safe distance while performing tasks in a remote environment. Kinematic differences between the input device and the remotely controlled manipulator or the existence of redundancy in the remote robot may pose challenges in moving intuitively the remote robot as desired by the human operator. Motivated...

— In the past few years, several robotic end-effectors based on diverse kinematics and actuation principles have been developed to provide grasping and manipulation functionalities. To ease the control and application of these wide-ranging end-effectors, the development of effective reusable tools that can facilitate the end-effector motion plannin...

Nowadays a wide range of industrial grippers are available on the market and usually their integration to robotics automation systems relies on dedicated software modules and interfaces specific for each gripper. During the past two decades, more sophisticated end-effector modules that target to provide additional functionality including dexterous...