Bruno Siciliano Luigi Villani Vincenzo Lippiello. Francesca Cordella Mariacarla Staffa.

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1/20 Robotics @ PRISMA Lab Bruno Siciliano Luigi Villani Vincenzo Lippiello Fanny Ficuciello

1 1/20 PRISMA Lab Bruno Siciliano Luigi Villani Vincenzo Lippiello Fanny Ficuciello i Fabio Ruggiero Francesca Cordella Mariacarla Staffa i it 18 February 2010

2 City 1,200, inhabitants Pole of Mediterranean culture Historical and holiday sites 5 universities + several science institutions University Founded in 1224 by Emperor Federico II (3 rd oldest after Bologna and Padova) 100,000 students School of Engineering g founded in 1811 by King Murat (oldest in Italy) 15,000 students (4,500 graduate) Università di Napoli Federico II PRISMA Lab 2/20

The PRISMA Team Robotics @ PRISMA Lab 3/20 6 Research groups (Napoli,

Associate Professors + 3 Assistant Professors 6 PostDoc + 20 PhD + 20

support a year Collaboration with 30 foreign institutions 120 seminars

3 The PRISMA Team PRISMA Lab 3/20 6 Research groups (Napoli, Cassino, Salerno, Basilicata, Napoli 2, Roma 3) 4 Professors + 5 Associate Professors + 3 Assistant Professors 6 PostDoc + 20 PhD + 20 MS + 3 TechEng 25 years of research activity 500 KEuro financial support a year Collaboration with 30 foreign institutions 120 seminars and invited talks 12 books + 15 volumes journal papers conference papers

4 Robotics Research PRISMA Lab 4/20 Dual-Arm/Hand Manipulation Dynamic Parameter Identification Fault Diagnosis and Fault Tolerant Control Force Control Human Robot Interaction Lightweight Flexible Arms Mobile Multirobot Systems Mobile Robots Novel Actuation and Sensing Systems for Robotic Applications Redundant Manipulators Service Robotics Simulation Control Theory of Discrete Event Systems Supervisory Control Theory of Petri Nets and Implementation Underwater Robotics Visual Servoing

5 Indirect Force Control PRISMA Lab 5/20 Impedance control with inner motion control loop Force/torque measurements for linear and decoupled impedance Compliant frame between desired and EE frame (disturbance rejection)

6 Experiments PRISMA Lab 6/20 Set-up COMAU Smart 3-S robot Open control architecture ATI force/torque sensor 6-DOF spatial impedance surface contact low compliance high compliance high compliance high damping low damping high damping

7 Visual Servoing PRISMA Lab 7/20 COMAU C3G 9000 open Robot CPU Servo CPU Power amplifiers Robot COMAU SMART 3S FOLLOWER Robot COMAU SMART 3S LEADER (PDL2) BUS VME User interface modules Board BIT 3 Vision i PC (VESPRO) Control Board BIT 3 PC BUS AT RS232 Visioni PC BU US AT MATROX GENESIS MATROX GENESIS SONY XC 8500 CE SONY XC 8500 CE Control - PC (RePLiCS)

8 Experiments PRISMA Lab 8/20 Visually guided grasping Object in unstructured environment Visual servoing Tracking of object motion Good reaction to uncertainties

9 Force and Visual Control PRISMA Lab 9/20 DLR KUKA robot with force sensor and camera embedded in the gripper Integration of vision and force Visual feedback in gross motion Force feedback in fine motion

10 Visual Impedance Control PRISMA Lab 10/20 Force Joint Vision

Human-Robot Interaction Robotics @ PRISMA Lab 11/20 Risks for robots

Sensory data reliability Level of autonomy/unpredictable behaviours

non-conventional actuators (passive safety) Interaction control (active

11 Human-Robot Interaction PRISMA Lab 11/20 Risks for robots interacting with humans Heavy moving parts and objects transported Sensory data reliability Level of autonomy/unpredictable behaviours Solutions for collaborative human-robot operation Design of non-conventional actuators (passive safety) Interaction control (active safety) Dependable algorithms for supervision and planning Fault tolerance Need for quantitative metrics

12 Completed European Project PRISMA Lab 12/20

13 Dual-Arm Manipulation PRISMA Lab 13/20 Dual-arm set-up 6ax robot 7ax robot peg-in-hole assembly 6-DOF impedance control of absolute motion and internal forces absolute & relative impedance absolute impedance human-object interaction

14 Undergoing European Project PRISMA Lab 14/20

15 Service Robotics PRISMA Lab 15/20 assisting disabled person fire-fighting robot

16 Undergoing European Project PRISMA Lab 16/20 European Clearing House for Open Robotics Development Target-oriented research and technology transfer with tangible results Small-scale experiments (12 18 months) proposed by industry, academia, or both Short proposals (max ~25 pages, including all administrative data) Quick evaluation and negotiation Equipment can be bought from a list with special prices Lower the entrance barriers (industry and integrators of SME size) Reduce the fear of contact t with funding organisations

17 New European Project PRISMA Lab 17/20 Service on a power plant Way-points Takeoff Unexpected risks! Stand close Docking and inspection Ground station Landing Interaction with teleoperation

18 New European Coordination Action PRISMA Lab 18/20 Recent successful coordination activities within academic and industrial robotics communities (EURON and EUROP) Goals eurobotics Improvement of cooperation between industry and academia Enhancement of public perception of robotics Impact Defining and implementing activities involving all relevant stakeholders Allowing European robotics to maintain its strong position and to gain worldwide leadership Forthcoming San Sebastian (10 12 March)

Springer Handbook of Robotics Robotics @ PRISMA Lab 19/20 B. Siciliano, O. Khatib (Editors) A Robotics Foundations (D.

references B C D E Robot Sensing and Manipulation and Mobile and Structures Perception Interfaces Distributed Robotics (F. Park) (H. Christensen) (M. Kaneko) (R.

19 Springer Handbook of Robotics PRISMA Lab 19/20 B. Siciliano, O. Khatib (Editors) A Robotics Foundations (D. Orin) 9 Electronic content (Internet, DVD) ICRA 08 May, Pasadena, CA 6 years of work s 7 parts 1600 pages 64 chapters 950 illustrations 165 authors 5500 references B C D E Robot Sensing and Manipulation and Mobile and Structures Perception Interfaces Distributed Robotics (F. Park) (H. Christensen) (M. Kaneko) (R. Chatila) F Field and Service Robotics (A. Zelinsky) G Human-Centered Human-Centered and and Life-Like Life-Like Robotics Robotics (D. Rus) (Rus) 14 8 Bestselling engineering title in 2008 PROSE Awards for Physical Science & Maths + Engineering & Technology

20 PRISMA Lab 20/20 Muchas gaciaspo gracias por su dedicada atención

Information and Program

Robotics 1 Information and Program Prof. Alessandro De Luca Robotics 1 1 Robotics 1 2017/18! First semester (12 weeks)! Monday, October 2, 2017 Monday, December 18, 2017! Courses of study (with this course