Robotics and Mechatronics

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Browsing Robotics and Mechatronics by Author "Gini, Giuseppina"

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    A Chaotic Neural Network as Motor Path Generator for Mobile Robotics
    (IEEE International Conference on Robotics and Biomimetics, 2014) Folgheraiter, Michele; Gini, Giuseppina
    This work aims at developing a motor path generator for applications in mobile robotics based on a chaotic neural network. The computational paradigm inspired by the neural structure of microcircuits located in the human prefrontal cortex is adapted to work in real-time and used to generate the joints trajectories of a lightweight quadruped robot. The recurrent neural network was implemented in Matlab and a software framework was developed to test the performances of the system with the robot dynamic model. Preliminary results demonstrate the capability of the neural controller to learn period signals in a short period of time allowing adaptation during the robot operation
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    A Multi-Modal haptic interface for Virtual Reality and Robotics
    (Journal of Intelligent and Robotic Systems, 2008-08) Folgheraiter, Michele; Gini, Giuseppina; Vercesi, Dario
    In this paper we present an innovative haptic device that combines the electro-tactile stimulation with the force and visual feedbacks in order to improve the perception of a virtual world. We discuss about the sensation evoked in a user by the haptic, force, and visual interface provided by this device, implemented as a special glove, equipped with sensors and actua- tors connected to a PC. The techniques used to recreate tactile and kines- thetic sensations are based on an innovative use of cutaneous stimulation integrated with actuators and 3D modelling techniques. We discuss about the specificity of haptic interfaces, their controllers, their open problems. We present results about generating the sensation of touching virtual ob- jects with our device. Experiments show also that, using a multi-modal sensorial pattern of stimulation, the subject perceives more realistically the virtual object. We discuss about possible use of the same technique as a way to interface intelligent robots.
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    A Neuromorphic Motion Controller for a Biped Robot
    (Human Performance and Robotics, Satellite Workshop of IEEE Humanoid 2016, 2016) Folgheraiter, Michele; Keldibek, Amina; Aubakir, Bauyrzhan; Salakchinov, Shyngys; Gini, Giuseppina; Mauro Franchi, Alessio
    Here we propose a neuromorphic control system for a medium size humanoid robot under development in the Robotics and Mechatronics Department at Nazarbayev University and in cooperation with Politecnico di Milano.
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    ADVANCED STEPS IN BIPED ROBOTICS: INNOVATIVE DESIGN AND INTUITIVE CONTROL THROUGH SPRING-DAMPER ACTUATOR
    (4th IEEE/RAS International Conference on Humanoid Robots, 2004) Scarfogliero, Umberto; Folgheraiter, Michele; Gini, Giuseppina
    This paper focuses on the study and design of an anthropomorphical light biped robot. The robot presents a total of twelve degree of freedom that will permit it to act a walk in a three dimensional space, right now tested only in simulation. Each joint resemble the functionalities of the human articulation and is moved by tendon connected with actuator located in the robot’s pelvis. We implemented and tested an innovative actuator that permits to set the joint stiffness in real time maintaining a simple position control paradigm. The controller is able to estimate the external load measuring the spring deflection and demonstrated to be particularly robust respect to system uncertainties, such as inertia value changes. Comparing the resulting control law with existing models we found several similarities with the Equilibrium Point Theory.