Universitą degli studi di Modena e Reggio Emilia

Roberto Meattini and Luigi Biagiotti and Gianluca Palli and Claudio Melchiorri.
Grasp-Oriented Myoelectric Interfaces for Robotic Hands: a Minimal-Training Synergy-Based Framework for Intent Detection, Control and Perception.
In Workshop Human-Friendly Robotics (HFR 2019), Oct 2019. Best Paper Award at HFR. [PDF] [BibTex]

@InProceedings{Meattini19b,
author={R. Meattini and L. Biagiotti and G. Palli and C. Melchiorri},
booktitle={Workshop Human-Friendly Robotics (HFR 2019)},
title=Grasp-Oriented Myoelectric Interfaces for Robotic Hands: a Minimal-Training Synergy-Based Framework for Intent Detection, Control and Perception},
year={2019},
volume={},
number={},
pages={},
keywords={Robot sensing systems;Grasping;Vibrations;Force;Robot kinematics;Force sensors},
doi={},
ISSN={},
month={October},}

Roberto Meattini and Luigi Biagiotti and Gianluca Palli and Daniele De Gregorio and Claudio Melchiorri.
A Control Architecture for Grasp Strength Regulation in Myocontrolled Robotic Hands Using Vibrotactile Feedback: Preliminary Results.
In 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), June 2019. [PDF] [BibTex]

@InProceedings{Meattini19,
author={R. Meattini and L. Biagiotti and G. Palli and D. De Gregorio and C. Melchiorri},
booktitle={2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR)},
title={A Control Architecture for Grasp Strength Regulation in Myocontrolled Robotic Hands Using Vibrotactile Feedback: Preliminary Results},
year={2019},
volume={},
number={},
pages={1272-1277},
keywords={Robot sensing systems;Grasping;Vibrations;Force;Robot kinematics;Force sensors},
doi={10.1109/ICORR.2019.8779476},
ISSN={1945-7901},
month={June},}

Luigi Biagiotti and Federico Califano and Claudio Melchiorri
Repetitive Control Meets Continuous Zero Phase Error Tracking Controllor for Precise Tracking of B-spline Trajectories .
In IEEE Transactions on Industrial Electronics, 2019. [PDF] [BibTex]

@ARTICLE{Biagiotti2019TCST,
author={L. {Biagiotti} and F. {Califano} and C. {Melchiorri}},
journal={IEEE Transactions on Industrial Electronics},
title={Repetitive Control Meets Continuous Zero Phase Error Tracking Controllor for Precise Tracking of B-spline Trajectories},
year={2019},
volume={},
number={},
pages={1-10},
keywords={Splines (mathematics);Trajectory;Service robots;Manipulators;Finite impulse response filters;Task analysis;B-spline trajectories;iterative methods;learning algorithms;repetitive control (RC);robotic manipulators.},
doi={},
ISSN={},
month={},}

Luigi Biagiotti and Claudio Melchiorri
Trajectory Generation via FIR Filters: a Procedure for Time-Optimization under Kinematic and Frequency Constraints
Control Engineering Practice, Vol. 87, Pages 43-58, June 2019. [PDF] [Matlab DEMO] [BibTex]

@Article{BiagiottiCEP2019,
title = "Trajectory generation via FIR filters: A procedure for time-optimization under kinematic and frequency constraints",
journal = "Control Engineering Practice",
volume = "87",
pages = "43 - 58",
year = "2019",
issn = "0967-0661",
doi = "https://doi.org/10.1016/j.conengprac.2019.03.017",
url = "http://www.sciencedirect.com/science/article/pii/S0967066119300346",
author = "Luigi Biagiotti and Claudio Melchiorri"
}

Luigi Biagiotti and Claudio Melchiorri
Zero-phase Velocity Tracking of Vibratory Systems with Actuation Constraints
Control Engineering Practice, Vol. 87, Pages 1-16, June 2019. [PDF] [BibTex]

@Article{BiagiottiCEP2019a,
title = "Zero-phase velocity tracking of vibratory systems with actuation constraints",
journal = "Control Engineering Practice",
volume = "87",
pages = "1 - 16",
year = "2019",
issn = "0967-0661",
doi = "https://doi.org/10.1016/j.conengprac.2019.03.016",
url = "http://www.sciencedirect.com/science/article/pii/S0967066119300334",
author = "Luigi Biagiotti and Claudio Melchiorri"
}

Luigi Biagiotti and Claudio Melchiorri and Lorenzo Moriello.
Improving the Accuracy of Industrial Robots via Iterative Reference Trajectory Modification .
In IEEE Transactions on Control Systems Technology, 2019. [PDF] [BibTex]

@ARTICLE{Biagiotti2019TCST,
author={L. {Biagiotti} and L. {Moriello} and C. {Melchiorri}},
journal={IEEE Transactions on Control Systems Technology},
title={Improving the Accuracy of Industrial Robots via Iterative Reference Trajectory Modification},
year={2019},
volume={},
number={},
pages={1-13},
keywords={Splines (mathematics);Trajectory;Service robots;Manipulators;Finite impulse response filters;Task analysis;B-spline trajectories;iterative methods;learning algorithms;repetitive control (RC);robotic manipulators.},
doi={10.1109/TCST.2019.2892929},
ISSN={1063-6536},
month={},}

Luigi Biagiotti and Claudio Melchiorri and Lorenzo Moriello.
Damped Harmonic Smoother for Trajectory Planning and Vibration Suppression .
In IEEE Transactions on Control Systems Technology, 2018. [PDF] [BibTex]

@ARTICLE{Biagiotti2018TCST,
author={L. Biagiotti and C. Melchiorri and L. Moriello},
journal={IEEE Transactions on Control Systems Technology},
title={Damped Harmonic Smoother for Trajectory Planning and Vibration Suppression},
year={2018},
volume={},
number={},
pages={1-9},
keywords={Harmonic trajectory;input shaping;residual vibration;smoother;trajectory planning.},
doi={10.1109/TCST.2018.2882340},
ISSN={1063-6536},
month={},}

Luigi Biagiotti and Davide Chiaravalli and Lorenzo Moriello and Claudio Melchiorri.
A Plug-In Feed-Forward Control for Sloshing Suppression in Robotic Teleoperation Tasks.
In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept 2018. [PDF] [Video] [BibTex]

@InProceedings{Biagiotti2018,
author={L. Biagiotti and D. Chiaravalli and L. Moriello and C. Melchiorri},
booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={A Plug-In Feed-Forward Control for Sloshing Suppression in Robotic Teleoperation Tasks},
year={2018},
volume={},
number={},
pages={5855-5860},
keywords={Liquids;Containers;Robots;Acceleration;Trajectory;Mathematical model;Vibrations},
doi={10.1109/IROS.2018.8593962},
ISSN={2153-0866},
month={Oct},}

Davide Chiaravalli and Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri.
Toward the Next Generation of Robotic Waiters.
In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept 2018. [PDF] [Video] [BibTex]

@InProceedings{Moriello2018b,
author={L. Moriello and D. Chiaravalli and L. Biagiotti and C. Melchiorri},
booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Toward the Next Generation of Robotic Waiters},
year={2018},
volume={},
number={},
pages={5541-5541},
keywords={Glass;Manipulators;Intelligent robots;Next generation networking;Steel;Tracking},
doi={10.1109/IROS.2018.8594475},
ISSN={2153-0866},
month={Oct},}

Davide Chiaravalli and Federico Califano and Luigi Biagiotti and Daniele de Gregorio and Claudio Melchiorri.
Physical-Consistent Behavior Embodied in B-Spline Curves for Robot Path Planning.
In IFAC, IEEE RAS Symposium on Robot Control - 12th SYROCO 2018 , Aug. 2018. [PDF] [BibTex]

@InProceedings{Chiaravalli2018,
  author    = {Davide Chiaravalli and Federico Califano and Luigi Biagiotti and Daniele de Gregorio and Claudio Melchiorri},
  title     = {Physical-Consistent Behavior Embodied in B-Spline Curves for Robot Path Planning},
  booktitle = {IFAC, IEEE RAS Symposium on Robot Control - 12th SYROCO 2018},
  year      = {2018},
  address   = {Budapest, HUNGARY},
  month     = aug,
}

Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri and Andrea Paoli.
Manipulating liquids with robots: A sloshing-free solution.
In Control Engineering Practice, Vol. 78, pp. 129-141, Sep. 2018. [PDF] [Video] [BibTex]

@Article{Moriello2018,
  author    = {Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri and Andrea Paoli},
  title     = {Manipulating liquids with robots: A sloshing-free solution},
  journal   = {Control Engineering Practice},
  year      = {2018},
  volume    = {78},
  pages     = {129--141},
  month     = {sep},
  doi       = {10.1016/j.conengprac.2018.06.018},
  publisher = {Elsevier {BV}},
}

Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri.
Multidimensional Trajectories Generation with Vibration Suppression Capabilities: the Role of Exponential B-splines.
In IFAC-PapersOnLine, Vol. 50, pp. 6054-6059, Jul. 2017. [PDF] [BibTex]

@Article{Moriello2017,
  author    = {Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri},
  title     = {Multidimensional Trajectories Generation with Vibration Suppression Capabilities: the Role of Exponential B-splines},
  journal   = {{IFAC}-{PapersOnLine}},
  year      = {2017},
  volume    = {50},
  number    = {1},
  pages     = {6054--6059},
  month     = {jul},
  doi       = {10.1016/j.ifacol.2017.08.1374},
  publisher = {Elsevier {BV}},
}

Luigi Biagiotti and Lorenzo Moriello and Claudio Melchiorri.
Feedforward control of Variable Stiffness Joints robots for vibrations suppression .
In 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017. [PDF] [BibTex]

@InProceedings{Biagiotti2017,
  author    = {Luigi Biagiotti and Lorenzo Moriello and Claudio Melchiorri},
  title     = {Feedforward control of Variable Stiffness Joints robots for vibrations suppression},
  booktitle = {2017 {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year      = {2017},
  month     = {may},
  publisher = {{IEEE}},
  doi       = {10.1109/icra.2017.7989621},
}

Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri and Andrea Paoli.
Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing.
In 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017. [PDF] [BibTex]

@InProceedings{Moriello2017a,
  author    = {Lorenzo Moriello and Luigi Biagiotti and Claudio Melchiorri and Andrea Paoli},
  title     = {Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing},
  booktitle = {2017 {IEEE} International Conference on Robotics and Automation ({ICRA})},
  year      = {2017},
  month     = {may},
  publisher = {{IEEE}},
  doi       = {10.1109/icra.2017.7989493},
}

Luigi Biagiotti and Lorenzo Moriello and Claudio Melchiorri.
Optimal Trajectories for Vibration Reduction Based on Exponential Filters .
In IEEE Transactions on Control Systems Technology, March 2016. [PDF] [BibTex]

@Article{Biagiotti2016,
author={L. Biagiotti and C. Melchiorri and L. Moriello},
journal={IEEE Transactions on Control Systems Technology},
title={Optimal Trajectories for Vibration Reduction Based on Exponential Filters},
year={2016},
volume={24},
number={2},
pages={609-622},
keywords={damping;filters;industrial control;vibration control;optimal trajectories;vibration reduction;exponential filters;exponential jerk;jerk trajectories;motion systems;vibration suppression;resonant mode damping;jerk impulses;residual vibration cancellation;plant dynamic characteristics;input shaping technique;system-inversion-based filters;velocity constraints;acceleration constraints;industrial applications;Vibrations;Trajectory;Damping;Standards;Oscillators;Acceleration;Robustness;Dynamic filters;exponential jerk;input shaping;multisegment trajectory;residual vibration;trajectory planning.;Dynamic filters;exponential jerk;input shaping;multisegment trajectory;residual vibration;trajectory planning},
doi={10.1109/TCST.2015.2460693},
ISSN={1063-6536},
month={March},}

Luigi Biagiotti and Federico Califano and Claudio Melchiorri.
Repetitive control of non-minimum phase systems along B-spline trajectories .
In 2016 IEEE 55th Conference on Decision and Control (CDC), Dec 2016. [PDF] [BibTex]

@InProceedings{Biagiotti2016,
  author    = {Luigi Biagiotti and Federico Califano and Claudio Melchiorri},
  title     = {Repetitive control of non-minimum phase systems along B-spline trajectories},
  booktitle = {2016 {IEEE} 55th Conference on Decision and Control ({CDC})},
  year      = {2016},
  month     = {dec},
  publisher = {{IEEE}},
  doi       = {10.1109/cdc.2016.7799113},
}

Roberto Zanasi and Federica Grossi and Luigi Biagiotti.
Qualitative graphical representation of Nyquist plots.
In Systems & Control Letters, Sep 2015. [PDF] [BibTex]

@Article{Zanasi2015,
  author    = {R. Zanasi and F. Grossi and L. Biagiotti},
  title     = {Qualitative graphical representation of Nyquist plots},
  journal   = {Systems {\&} Control Letters},
  year      = {2015},
  volume    = {83},
  pages     = {53--60},
  month     = {sep},
  doi       = {10.1016/j.sysconle.2015.06.005},
  publisher = {Elsevier {BV}},
}

Luigi Biagiotti and Lorenzo Moriello and Claudio Melchiorri.
A Repetitive Control Scheme Based on B-Spline Trajectories Modification .
In IFAC-PapersOnLine, 2015. [PDF] [BibTex]

@Article{Biagiotti2015,
  author    = {Luigi Biagiotti and Lorenzo Moriello and Claudio Melchiorri},
  title     = {A Repetitive Control Scheme Based on B-Spline Trajectories Modification},
  journal   = {{IFAC}-{PapersOnLine}},
  year      = {2015},
  volume    = {48},
  number    = {19},
  pages     = {262--267},
  doi       = {10.1016/j.ifacol.2015.12.043},
  publisher = {Elsevier {BV}},
}

Luigi Biagiotti and Lorenzo Moriello and Claudio Melchiorri.
A repetitive control scheme for industrial robots based on b-spline trajectories.
In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept 2015. [PDF] [BibTex]

@InProceedings{Biagiotti2015,
  author    = {L. Biagiotti and L. Moriello and C. Melchiorri},
  title     = {A repetitive control scheme for industrial robots based on b-spline trajectories},
  booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2015},
  pages     = {5417-5422},
  month     = {Sept},
  doi       = {10.1109/IROS.2015.7354143},
  keywords  = {compensation;industrial manipulators;interpolation;path planning;splines (mathematics);trajectory control;repetitive control scheme;industrial robots;automatic machines;reference trajectory;external load compensation;unmodelled dynamics;dynamic filters;B-spline trajectory planning;trajectory generation;reference signal;interpolation errors;industrial manipulator;Splines (mathematics);Trajectory;Interpolation;Finite impulse response filters;Frequency response;Standards;Generators},
}

Luigi Biagiotti and Claudio Melchiorri.
Online trajectory planning and filtering for robotic applications via B-spline smoothing filters.
In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2013. [PDF] [BibTex]

@InProceedings{Biagiotti2013,
  author    = {L. Biagiotti and C. Melchiorri},
  title     = {Online trajectory planning and filtering for robotic applications via B-spline smoothing filters},
  booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year      = {2013},
  pages     = {5668-5673},
  month     = {Nov},
  doi       = {10.1109/IROS.2013.6697177},
  issn      = {2153-0858},
  keywords  = {FIR filters;industrial manipulators;moving average processes;path planning;smoothing methods;splines (mathematics);telerobotics;online generating trajectory planning;B-spline smoothing filters;3-D space;cubic B-splines;FIR fllters;control points;moving average fllters;B-spline trajectories;computational efficiency;online trajectory generation;trajectory smoothness;teleoperation task;Puma 560 industrial manipulator;robotic applications;Splines (mathematics);Finite impulse response filters;Trajectory;Smoothing methods;Generators;Robots;Approximation methods},
}

Luigi Biagiotti and Claudio Melchiorri.
FIR filters for online trajectory planning with time- and frequency-domain specifications.
In Control Engineering Practice, Vol. 20, no. 12, pp. 1385 - 1399, 2012. [PDF] [BibTex]

@article{Biagiotti2012,
title = "FIR filters for online trajectory planning with time- and frequency-domain specifications",
journal = "Control Engineering Practice",
volume = "20",
number = "12",
pages = "1385 - 1399",
year = "2012",
issn = "0967-0661",
doi = "https://doi.org/10.1016/j.conengprac.2012.08.005",
url = "http://www.sciencedirect.com/science/article/pii/S0967066112001669",
author = "Luigi Biagiotti and Claudio Melchiorri",
keywords = "Trajectory planning, Multi-segment trajectories, Shaping filters, Digital filters"
}

Luigi Biagiotti and Claudio Melchiorri.
Online Planning of Multi-Segment Trajectories with Trigonometric blends.
In 18th IFAC World Congress, 2011. [PDF] [BibTex]

@article{Biagiotti2011,
title = "Online Planning of Multi-Segment Trajectories with Trigonometric blends",
journal = "IFAC Proceedings Volumes",
volume = "44",
number = "1",
pages = "10343 - 10348",
year = "2011",
note = "18th IFAC World Congress",
issn = "1474-6670",
doi = "https://doi.org/10.3182/20110828-6-IT-1002.01539",
url = "http://www.sciencedirect.com/science/article/pii/S1474667016452742",
author = "Luigi Biagiotti and Claudio Melchiorri",
keywords = "Trajectory planning, Shaping filters, Digital filters"
}

Luigi Biagiotti and Claudio Melchiorri.
Input shaping via B-spline filters for 3-D trajectory planning.
In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 2011. [PDF] [BibTex]

@InProceedings{Biagiotti2011,
  author    = {L. Biagiotti and C. Melchiorri},
  title     = {Input shaping via B-spline filters for 3-D trajectory planning},
  booktitle = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year      = {2011},
  pages     = {3899-3904},
  month     = {Sept},
  doi       = {10.1109/IROS.2011.6094836},
  issn      = {2153-0866},
  keywords  = {Spline;Trajectory;Vibrations;Service robots;Interpolation;Frequency response},
}

Luigi Biagiotti and Roberto Zanasi.
Efficient simulation of Static and Dynamic friction for Automotive Applications.
In 18th IFAC World Congress, 2011. [PDF] [BibTex]

@article{Biagiotti2011b,
title = "Efficient simulation of Static and Dynamic friction for Automotive Applications",
journal = "IFAC Proceedings Volumes",
volume = "44",
number = "1",
pages = "2132 - 2137",
year = "2011",
note = "18th IFAC World Congress",
issn = "1474-6670",
doi = "https://doi.org/10.3182/20110828-6-IT-1002.03057",
url = "http://www.sciencedirect.com/science/article/pii/S1474667016439273",
author = "Luigi Biagiotti and Roberto Zanasi",
keywords = "Friction, Dynamic modeling, Numerical simulation, Automotive"
}

Luigi Biagiotti and Claudio Melchiorri.
B-spline based filters for multi-point trajectories planning.
In 2010 IEEE International Conference on Robotics and Automation, May 2010. [PDF] [BibTex]

@InProceedings{Biagiotti2010,
  author    = {L. Biagiotti and C. Melchiorri},
  title     = {B-spline based filters for multi-point trajectories planning},
  booktitle = {2010 IEEE International Conference on Robotics and Automation},
  year      = {2010},
  pages     = {3065-3070},
  month     = {May},
  doi       = {10.1109/ROBOT.2010.5509131},
  issn      = {1050-4729},
  keywords  = {collision avoidance;FIR filters;mobile robots;robotic welding;splines (mathematics);B-spline based filter;multipoint trajectory planning;finite impulse response filter;digital filter;FIR filter;trajectory generator;moving average filter;sampling time;industrial robot;welding operation;mobile robot;obstacle;geometric path;Spline;Trajectory;Finite impulse response filter;Mobile robots;Digital filters;Service robots;Computational efficiency;Sampling methods;Welding;Path planning},
}

Luigi Biagiotti and Roberto Zanasi.
Time-optimal regulation of a chain of integrators with saturated input and internal variables: an application to trajectory planning.
In 8th IFAC Symposium on Nonlinear Control Systems, 2010. [PDF] [BibTex]

@article{Biagiotti2010,
title = "Time-optimal regulation of a chain of integrators with saturated input and internal variables: an application to trajectory planning",
journal = "IFAC Proceedings Volumes",
volume = "43",
number = "14",
pages = "1278 - 1283",
year = "2010",
note = "8th IFAC Symposium on Nonlinear Control Systems",
issn = "1474-6670",
doi = "https://doi.org/10.3182/20100901-3-IT-2016.00211",
url = "http://www.sciencedirect.com/science/article/pii/S147466701537141X",
author = "Luigi Biagiotti and Roberto Zanasi",
keywords = "Trajectory planning, Optimal control, Switching Surfaces"
}

Luigi Biagiotti and Roberto Zanasi.
Online trajectory planner with constraints on velocity, acceleration and torque.
In 2010 IEEE International Symposium on Industrial Electronics, 2010. [PDF] [BibTex]

@InProceedings{Biagiotti2010,
  author    = {L. Biagiotti and R. Zanasi},
  title     = {Online trajectory planner with constraints on velocity, acceleration and torque},
  booktitle = {2010 IEEE International Symposium on Industrial Electronics},
  year      = {2010},
  pages     = {274-279},
  month     = {July},
  doi       = {10.1109/ISIE.2010.5637558},
  issn      = {2163-5137},
  keywords  = {approximation theory;continuous time systems;control system synthesis;digital control;position control;robot dynamics;robot kinematics;smoothing methods;variable structure systems;online trajectory planner;trajectory smoothing;variable structure controller;continuous time domain;mechatronic application;robotic application;digital controller;velocity constraint;acceleration constraint;torque constraint;Trajectory;Acceleration;Torque;Differential equations;Robots;Load modeling},
}}

Luigi Biagiotti and Claudio Melchiorri.
Trajectory Planning for Automatic Machines and Robots, Springer Berlin Heidelberg. [PDF] [BibTex]

@Book{Biagiotti08,
title = {Trajectory Planning for Automatic Machines and Robots},
publisher = {Springer Berlin Heidelberg},
year = {2008},
author = {L. Biagiotti and C. Melchiorri},
pages = {514},
doi = {10.1007/978-3-540-85629-0},
isbn = {978-3-540-85628-3}
}