Curriculum Vitae Andrea Maria Zanchettin updated: September 21, 2014 Personal data Name: Andrea Maria Zanchettin Birthdate: 22-05-1983 in CREMONA (CR) , Italy Address: via MONFALCONE, 44, MILANO (MI), Italy Mobile: +39 349 83 84 208 E-mail [email protected] Home Page: http://home.deib.polimi.it/zanchettin/ Education Ph.D. in Information Technology, February 2012 Politecnico di Milano, Dipartimento di Elettronica e Informazione, Italy Final grade: A, with Honor Thesis: Human-centric behaviour of redundant manipulators under kinematic control Advisor: Prof. Paolo Rocco Reviewer: Prof. Giuseppe Oriolo (Università di Roma “La Sapienza”) M.Sc. in Computer Science Engineering, April 2008 Politecnico di Milano, Italy Final grade: 110/110 cum Laude (average grade: 28.85/30) Thesis: Analisi teorica e sperimentale del sistema di controllo di un motore asincrono per lavabiancheria Advisor: Prof. Paolo Rocco B.Sc. in Computer Science Engineering, September 2005 Politecnico di Milano (Cremona) Final grade: 110/110 (average grade: 28.53/30) Thesis: Analisi di strategie di controllo per servomeccanismi elastici Advisor: Prof. Gianni Ferretti Diploma di Maturità Scientifica (progetto Brocca), July 2002 Istituto Tecnico Industriale J. Torriani (Cremona), Italy Final grade: 100/100 Research positions Fixed-term Assistant Professor, 01-03-2014 – 28-02-2017 (expected) Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Italy SSD: ING-INF/04 – Automatica (09/G1) Topic: Sensor-based trajectory generation for robotic manipulators Post-doctoral Research Assistant, 16-01-2012 – 28-02-2014 Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Italy Funded by: EU FP7 ROSETTA Project Topic: Safety-oriented motion planning and control for kinematically redundant dual-arm robot manipulators Research Assistant, 01-06-2008 – 31-12-2008 Politecnico di Milano, Dipartimento di Elettronica e Informazione, Italy Funded by: Fondazione Politecnico di Milano, in cooperation with Indesit Company Topic: Control of mechanical systems with low-cost sensors Visiting positions During Spring 2010, namely from 26-04-2010 to 09-07-2010, he spent a research stay at the Department of Automatic Control (Reglerteknik) at Lund University, LTH, Sweden, working with Prof. Rolf Johansson and Prof. Anders Robertsson within the EU FP7 project ROSETTA. Teaching activities 2014/2015 Course: Automatic Control, MSc in Physics Engineering Role: lecturer, 60 hours (expected) and teaching assistant, 40 hours (expected) 2013/2014 Course: Fondamenti di Automatica (per Aerospaziali), prof. Paolo Rocco Role: teaching assistant, 28 hours Course: Fondamenti di Automatica (per Aerospaziali), prof. Paolo Rocco Role: lab assistant, 12 hours Course: Tecnologie dei Sistemi di Controllo per l'Aeronautica, prof. Gianantonio Magnani Role: teaching assistant, 16 hours 2012/2013 Course: Fondamenti di Automatica (per Aerospaziali), prof. Paolo Rocco Role: teaching assistant, 28 hours Course: Tecnologie dei Sistemi di Controllo per l'Aeronautica, prof. Gianantonio Magnani Role: teaching assistant, 16 hours 2011/2012 Course: Fondamenti di Automatica (per Aerospaziali), prof. Paolo Rocco Role: teaching assistant, 28 hours 2010/2011 Course: Fondamenti di Automatica (per Aerospaziali), prof. Paolo Rocco Role: teaching assistant, 4 hours 2008/2009 Course: Fondamenti di Automatica (per Aerospaziali), prof. Paolo Rocco Role: teaching assistant, 26 hours Course: Fondamenti di Automatica (per Aerospaziali), prof. Paolo Rocco Role: lab assistant, 12 hours He has been co-advisor of around 20 Master Theses for Automation, Computer Science, Electronic and Mechanical Engineering, covering several topics ranging from robotics and mechatronics to satellite attitude control. Participation in funded projects CREMONA project (to start) Funded by: ABB University Research Grant Topic: constraint-based robot programming and control Fabbrica Intelligente – Adaptive project, 2014 – 2016 Funded by: MIUR, CTN Partners: Università di Bergamo, Università di Napoli “Federico II”, Università di Modena e Reggio Emilia, Loccioni, Balluff Automation s.p.a. and others Topic: intelligent factory, smart automation, safe human-robot interaction SCORPION project, August 2013 – June 2014 Sponsored by: KUKA Innovation Award 2014 - finalist Platform supplier: KUKA Roboter GmbH (Germany) Topic: mobile manipulators, reactive motion planning ECHORD project – Fidelio experiment, 2011 – 2012 Funded by: EU FP7 Partners: Comau Robotics (Italy) Topic: machine learning techniques for robotic-aided industrial manufacturing Quadrivio project, 2011 – 2012 Funded by: Regione Lazio, FILAS Partners: AeroSekur (Italy) Topic: navigation and control of an unmanned all-terrain robot ROSETTA project, 2009 – 2013 Funded by: EU FP7 Partners: Lund University (Sweden), University of Munich (Germany), KU Leuven (Belgium), ABB Corporate Research (Sweden and Germany), Fraunhofer IPA (Germany) and others Topic: safe human-robot interaction for industrial manipulators Washing machine robust control, 2008 – 2009 Funded by: Fondazione Politecnico di Milano Partners: Indesit Company (Italy) Topic: robust tuning of the velocity loop of a washing machine with low-resolution sensing Research interests Sensor-based trajectory generation for safe human-robot cooperation Future paradigms in industrial robotics no longer require a physical separation between robotic manipulators and humans. Moreover, to optimize production, humans and robots will be expected to coexist and cooperate to some extent. In this scenario, involving a shared environment between humans and robots, common industrial robot controllers might turn to be inadequate for this purpose. In order to obtain a natural and safe collaboration, robots will be equipped with sophisticated sensing devices and with human-aware control/planning capabilities. In the literature many attempts in developing suitable robot reactions to unforeseen events have been presented by means of trajectory adaptation or modifications based on sensor readings. However, in case of very unstructured environments, a better solution could be achieved with an advanced sensor-based motion and trajectory generation, rather than a real-time modification of an offline planned path. The aim of this research is to provide tools to overcome the current limitations in off-the-shelf robot controllers and propose a real-time trajectory generator capable of understanding the environment and of computing a sensor-based trajectory to let the robot perform a prescribed task with a suitable level of safety. Human-friendly behaviour for redundant robots Although robustness and safety of industrial robots have been increasing in the last decades, common industrial manipulators are still not able to co-operate with human beings in a natural way. Using redundant manipulators (i.e. robotic arms having more degrees of freedom than those strictly necessary to perform a certain task) it is possible to achieve high levels of dexterity in order to make the robot able to co-operate with humans in the same way that humans would co-operate with other humans. Moreover, since the same task can be performed in several ways, redundant manipulators offer a wide range of flexibility in motion planning. Thanks to the extra degree(s) of freedom, it is possible to modify in realtime the behaviour of the robot, in order to ensure a safe co-operation with human co-workers and minimize the injury risk, without modifying the end-effector motion. The aim of this research is to study the problem of kinematic inversion for redundant manipulators in order to make their motion as natural as possible. Since the robot is supposed to co-operate with humans, its motion should be predictable, safe, and intuitive. Part of this research is focused on the development of some criteria to design a human-like kinematic inversion algorithm for redundant manipulators while maintaining the possibility of on-line adjustments of the joint trajectory to perform additional tasks such as obstacle avoidance, injury risk minimization, etc. In this way, a human-friendly behaviour of the robot will ensure a natural co-operation between robotic manipulators and humans which is not obtained with today commercial industrial manipulators. Optimization-based design of control systems Optimization-based design is a very active research area aiming at the development of computationally efficient methods for the solution of challenging control issues (e.g., static output feedback) in terms of constrained optimization problems. Among others, randomized methods and non-smooth optimization techniques appear today as the most promising paths to the development of viable design methods applicable to practical engineering problems. This research is aimed at the following objectives: to provide an overview of optimization-based design methods, to explore potential integrations between them and to assess their applicability to a real control system design problem such as robust stabilization of the attitude dynamics of a magnetically actuated satellite. As a case study, the problem of designing attitude controllers for magnetically actuated spacecraft has been considered. An approach to the tuning of projection based controllers has been proposed, relying on robust periodic state feedback control techniques. The static state feedback control law has been tuned using a randomized algorithm that combines pure Monte Carlo techniques with steepest descent algorithms for non-smooth optimization problems. The performance of the resulting controller has been illustrated in a simulation study. Control of mechanical systems with low-resolution sensors The aim of this research is to characterize how the control performance of a washing machine is influenced by each mechanical, electrical and control components. A model of the machine including a description of the electrical aspects involved in the torque generation, as well as the transmission chain, the load, the spring-damper system connecting the tub to the cabinet, and the velocity estimator, has been introduced. Simple experimental procedures to identify the main mechanical parameters of the machine have been performed and the accuracy of the model is demonstrated through validation experiments. The model is then exploited to analyse the behaviour of the machine at the stability limit and to propose a modification in the mechanical design, in order to simplify the tuning procedure. As for control purposes, the classical motion control architecture, that is also the one already adopted by the machine manufacturer, has been considered. A rational automatic procedure to tune the velocity regulator, that ensures the loop stability in any operating condition of interest, has been devised. A revision of the current loop tuning, in order to ease the tuning of the velocity loop is also proposed. The tuning procedures have the advantage to be simple, easily implementable using the experimental setup adopted by the manufacturer to tune the controllers, and directly applicable on the control architecture of a commercial washing machine. Editorial activities Andrea Zanchettin has served as a reviewer for the following journals: IEEE Transactions on Robotics, IFAC Automatica, IFAC Control Engineering Practice, IFAC Mechatronics, IET Control Theory & Applications, Robotica, Robotics & Autonomous Systems, Journal of Intelligent and Robotic Systems and for major international conferences on automatic control (IEEE CDC, IEEE ACC) and robotics (IEEE ICRA, IEEE/RSJ IROS, IFAC SYROCO). He served the RAS Conference Editorial Board (CEB) as an Associate Editor for ICRA 2014 and the IROS Conference Paper Review Board (CPRB) for IROS 2014. Dr. Zanchettin is member of the IEEE Robotics and Automation Society (RAS) and of the IEEE RAS Technical Committee on “Algorithms for Planning and Control of Robot Motion”, since 2009 and 2013, respectively. He co-chaired the session named “Biologically-Inspired Robots IV” held in May 2011 at the IEEE International Conference on Robotics and Automation (ICRA), Shanghai (China) and the session entitled “Industrial applications II” held in September 2012 at the IFAC Symposium on Robot Control (SYROCO), Dubrovnik (Croatia). Organized events Together with Gianni Borghesan (KU Leuven) and Torsten Kroeger (Google), Andrea Zanchettin has coorganized the Workshop entitled “Real-time Motion Generation & Control - Constraint-based Robot Programming” to be held in Chicago (Illinois, USA) in conjunction with IEEE/RSJ IROS 2014. Dr. Zanchettin has been also appointed as Social Media Chair for IEEE/RSJ IROS 2014 held in Chicago (Illinois, USA). Seminars, workshops and invited talks ▪ “L’ingegnere: dall’ingegno al congegno” - Dissemination talk for future Engineering students at Liceo Scientifico G. Aselli (high school) - Cremona (Italy), 03-05-2014. ▪ “Task constraints classification and exploitation for safe and productive human-robot interaction” (co-authored with N.M. Ceriani and P. Rocco) - 6th International Workshop on Human-Friendly Robotics, Rome (Italy), 25-10-2013. ▪ “A distributed proximity sensor for safe human-robot interaction” (co-authored with G. Buizza Avanzini, P. Rocco, N.M. Ceriani and L. Bascetta) - 6th International Workshop on Human-Friendly Robotics, Rome (Italy), 25-10-2013. ▪ “Human arm motion synthesis: data-driven and biomechanics-based approaches” (co-authored with E. Giovannitti, N.M. Ceriani, and P. Rocco) - IEEE ICRA 2013 Workshop on Computational Techniques in Natural Motion Analysis and Reconstruction, Karlsruhe (Germany), 6-5-2013. ▪ “Human-centric behaviour of redundant manipulators for ergonomic human-robot coexistence” (coauthored with P. Rocco) - 5th International Workshop on Human-Friendly Robotics, Royal Military Accademy of Brussels (Belgium), 18-10-2012. ▪ “Sensor-based trajectory generation for safe human-robot cooperation” (co-authored with B. Lacevic) - IEEE/RSJ IROS 2012 Workshop on Robot Motion Planning: Online, Reactive, and in Real-time, Vilamoura, Algarve (Portugal), 12-10-2012. ▪ “L’ingegnere: dall’ingegno al congegno” - Dissemination talk for future Engineering students at Liceo Scientifico G. Aselli (high school) - Cremona (Italy), 08-05-2012. ▪ “Optimisation-based design for linear control systems” - Seminar held at Politecnico di Milano, Dipartimento di Elettronica e Informazione, Milano (Italy), 23-11-2010. Participation in International Conferences Dr. Zanchettin has taken part in the following International Conferences: 1. International Conference on Advanced Robotics, ICAR 2009, Munich (Germany), June 2009, 22nd26th. 2. IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage (Alaska, USA), May 2010, 3rd-8th. 3. IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010, Bologna (Italy), September 2010, 1st-3rd. 4. IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai (China), May 2011, 9th-13th. 5. IFAC World Congress, Milan (Italy), August/September 2011, 28th-2nd. 6. IEEE International Conference on Robotics and Automation, ICRA 2012, St. Paul (Minnesota, USA), May 2012, 14th-18th. 7. IFAC Symposium on Robot Control, SYROCO 2012, Dubrovnik (Croatia), September 2012, 5th7th. 8. IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2012, Vilamoura, Algarve (Portugal), October 2012, 7th-12th. 9. IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe (Germany), May 2013, 6th-10th. 10. IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2013, Tokyo (Japan), November 2013, 3rd-7th. 11. IEEE Conference on Decision and Control, CDC 2013, Florence (Italy), December 2013, 10th-13th. 12. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago (Illinois, USA), September 2014, 14th-18th. List of publications International Journals [IJ1] A.M. Zanchettin, B. Lacevic, P. Rocco - “Passivity-based control of robotic manipulators for safe cooperation with humans”, International Journal of Control, August 2014, to appear. [IJ2] G. Buizza Avanzini, N.M. Ceriani, A.M. Zanchettin, P. Rocco, L. Bascetta - “Safety control of industrial robots based on a distributed distance sensor”, IEEE Transactions on Control System Technology, available online, January 2014. [IJ3] A.M. Zanchettin, L. Bascetta, P. Rocco - “Achieving Humanlike Motion: Resolving Redundancy for Anthropomorphic Industrial Manipulators”, IEEE Robotics & Automation Magazine, volume 20, issue 4, pp. 131-138, December 2013, I-RAS Young Author Best Paper Award 2014. [IJ4] A.M. Zanchettin, L. Bascetta, P. Rocco - “Acceptability of robotic manipulators in shared working environments through human-like redundancy resolution”, Applied Ergonomics, volume 44, issue 6, pp. 982–989, November 2013. [IJ5] B. Lacevic, P. Rocco, A. M. Zanchettin - “Safety assessment and control of robotic manipulators using danger field”, IEEE Transactions on Robotics, volume 29, issue 5, pp. 1257-1270, October 2013. [IJ6] A.M. Zanchettin, A. Calloni, M. Lovera - “Robust magnetic attitude control of satellites”, IEEE/ASME Transactions on Mechatronics, volume 18, issue 4, pp. 1259-1268, August 2013. [IJ7] L. Bascetta, P. Rocco, A.M. Zanchettin, G. Magnani - “Velocity control of a washing machine: a mechatronic approach”, IFAC Mechatronics, volume 22, issue 6, pp. 778–787, September 2012. [IJ8] A.M. Zanchettin, P. Rocco - “A general user-oriented framework for holonomic redundancy resolution in robotic manipulators using task augmentation”, IEEE Transactions on Robotics, volume 28, issue 2, pp. 514-521, April 2012. [IJ9] L. Bascetta, G. Magnani, P. Rocco, A.M. Zanchettin - “Performance limitations in Field Oriented Control for asynchronous machines with low resolution position sensing”, IEEE Transactions on Control System Technology, volume 18, issue 3, pp. 559-573, May 2010. Papers submitted to International Journals [S1] N.M. Ceriani, A.M. Zanchettin, P. Rocco, A. Stolt, A. Robertsson – “Reactive task adaptation based on hierarchical constraints classification for safe industrial robots”, submitted to IEEE/ASME Transactions on Mechatronics, minor revision, August 2014. [S2] A.M. Zanchettin, N.M. Ceriani, P. Rocco, H. Ding, B. Matthias – “Safety in human-robot collaborative manufacturing environments: metrics and control”, submitted to IEEE Transactions on Automation Science and Engineering, to be submitted for second review round, August 2014. Proceedings of International Conferences [IC1] M. Parigi Polverini, A.M. Zanchettin, P. Rocco – “Collision Avoidance in Human-Robot Interaction Based on Kinetostatic Safety Field”, IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2014, Chicago (Illinois, USA), September 14th-18th. [IC2] G. Buizza Avanzini, A.M. Zanchettin, P. Rocco - "Reactive Constrained Model Predictive Control for Redundant Mobile Manipulators", International Conference on Intelligent Autonomous Systems, IAS 2014, Padua/Venice (Italy), July 2014, 15th-18th. [IC3] N.M. Ceriani, A.M. Zanchettin, P. Rocco - "Collision Avoidance with Task Constraints and Kinematic Limitations for Dual Arm Robots", International Conference on Intelligent Autonomous Systems, IAS 2014, Padua/Venice (Italy), July 2014, 15th-18th. [IC4] M. Ragaglia, L. Bascetta, P. Rocco, A.M. Zanchettin “Integration of perception, control and injury knowledge for safe human-robot interaction”, IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong (China), May/June 2014, 31st-5th. [IC5] A.M. Zanchettin, P. Rocco - "Near time-optimal and sensor-based motion planning for robotic manipulators", IEEE Conference on Decision and Control, CDC 2013, Florence (Italy), December 2013, 10th-13th. [IC6] A.M. Zanchettin, P. Rocco - “Path-consistent safety in mixed human-robot collaborative manufacturing environments”, IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2013, Tokyo (Japan), November 2013, 3rd-7th. [IC7] N.M. Ceriani, A.M. Zanchettin, P. Rocco, A. Stolt, A. Robertsson - “A constraint-based strategy for task-consistent safe human-robot interaction”, IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2013, Tokyo (Japan), November 2013, 3rd-7th. [IC8] N.M. Ceriani, G. Buizza Avanzini, A.M. Zanchettin, L. Bascetta, P. Rocco - “Optimal placement of spots in distributed proximity sensors for safe human-robot interaction”, IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe (Germany), May 2013, 6th10th. [IC9] A.M. Zanchettin, B. Lacevic, P. Rocco - “A novel passivity-based control law for safe humanrobot coexistence”, IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2012, Vilamoura, Algarve (Portugal), October 2012, 7th-12th. [IC10] A. Barcellini, L. Bascetta, M. Raymo, P. Rocco, A.M. Zanchettin, A. Robertsson - “Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller”, IFAC Symposium on Robot Control, SYROCO 2012, Dubrovnik (Croatia), September 2012, 5th-7th. [IC11] A. Calloni, A. Corti, A.M. Zanchettin, M. Lovera - “Robust attitude control of spacecraft with magnetic actuators”, American Control Conference, ACC 2012, Montreal (Canada), June 2012, 27th-29th, invited paper. [IC12] A.M. Zanchettin, P. Rocco - “Dual-arm redundancy resolution based on null-space dynamically-scaled posture optimization”, IEEE International Conference on Robotics and Automation, ICRA 2012, St. Paul (Minnesota, USA), May 2012, 14th-18th. [IC13] A.M. Zanchettin, M. Lovera - “H_\infty attitude control of magnetically actuated satellites”, IFAC World Congress, Milan (Italy), August/September 2011, 28th-2nd. [IC14] A.M. Zanchettin, P. Rocco - “On the use of functional redundancy in industrial robotic manipulators for optimal spray painting”, IFAC World Congress, Milan (Italy), August/September 2011, 28th-2nd. [IC15] I. Symeonidis, S. Peldschus, A.M. Zanchettin, P. Rocco, D. Bortot, K. Bengler - “Database of human reach motions in work environment”, First International Symposium on Digital Human Modeling, DHM 2011, Lyon (France), June 2011, 14th-16th. [IC16] A.M. Zanchettin, P. Rocco, A. Robertsson, R. Johansson - “Exploiting task redundancy in industrial manipulators during drilling operations”, IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai (China), May 2011, 9th-13th. [IC17] A.M. Zanchettin, P. Rocco, L. Bascetta, I. Symeonidis, S. Peldschus - “Kinematic analysis and synthesis of the human arm motion during a manipulation task”, IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai (China), May 2011, 9th-13th. [IC18] A.M. Zanchettin, P. Rocco, G. Ferretti - “Numerical issues in integrating holonomic kinematic inversion algorithms for redundant manipulators”, IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010, Bologna (Italy), September 2010, 1st-3rd. [IC19] A.M. Zanchettin, P. Rocco, L. Bascetta, I. Symeonidis, S. Peldschus - “Kinematic motion analysis of the human arm during a manipulation task”, International Symposium on Robotics and German Conference on Robotics, ISR/Robotik 2010, Munich (Germany), June 2010, 7th9th. [IC20] P. Rocco, A.M. Zanchettin - “General parameterization of holonomic kinematic inversion algorithms for redundant manipulators”, IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage (Alaska, USA), May 2010, 3rd-8th. [IC21] L. Bascetta, G. Magnani, P. Rocco, A.M. Zanchettin - “Design and implementation of the lowlevel control system of an All-Terrain Mobile Robot”, International Conference on Advanced Robotics, ICAR 2009, Munich (Germany), June 2009, 22nd-26th. [IC22] G. Magnani, P. Rocco, L. Trevisan, A.M. Zanchettin, A. Rusconi - “Torque control in the joint of a space robotic arm”, IEEE International Conference on Mechatronics, ICM 2009, Malaga (Spain), April 2009, 14th-17th. Proceedings of National Conferences [NC1] L. Bascetta, G. Buizza Avanzini, N. Ceriani, M. Ragaglia, P. Rocco, A.M. Zanchettin – “Interazione sicura uomo-robot in ambiente industriale”, Motion Control 2013, Cinisello Balsamo (Italy), November 2013, 20th-21st. [NC2] A.M. Zanchettin, N.M. Ceriani, P. Rocco - “Reactive motion planning for robotic manipulators: problem setting and challenges”, Automatica.it 2013, Palermo (Italy), September 2013, 16th18th. [NC3] L. Bascetta, P. Rocco, A.M. Zanchettin, G. Magnani - “Controllo di velocità di una lavabiancheria: dall’analisi meccatronica alla taratura automatica del regolatore”, Automatica.it 2012, Benevento (Italy), September 2012, 12th-14th. [NC4] L. Bascetta, G. Ferretti, B. Lacevic, G. Magnani, P. Rocco, A.M. Zanchettin - “Robotica industriale umano-centrica: il progetto ROSETTA”, Motion Control 2010, Cinisello Balsamo (Italy), November 2010, 10th-11th. [NC5] A. Locatelli, P. Rocco, N. Schiavoni, A.M. Zanchettin - “Ripetibilità dei movimenti nei manipolatori robotici a ridondanza cinematica”, Motion Control 2010, Cinisello Balsamo (Italy), November 2010, 10th-11th. National Journals [NJ1] L. Bascetta, P. Bolzern, G. Ferretti, B. Lacevic, A. Locatelli, G. Magnani, P. Rocco, N. Schiavoni, A.M. Zanchettin - “Robotica industriale umano-centrica: il progetto ROSETTA”, Automazione e Strumentazione, Giugno 2011 - pp. 75-79. Misc publications [M1] G. Buizza Avanzini, A.M. Zanchettin, P. Rocco - “Safe control of mobile robots for productive industrial operations”, KUKA Innovation Award 2014, Mobile Manipulation Challenge, Automatica Fair (Munich), June 4th 2014, finalist. [M2] A.M. Zanchettin - “Human-centric behaviour of redundant manipulators under kinematic control”, Politecnico di Milano, Doctoral dissertation, February 2012. [M3] A.M. Zanchettin, P. Rocco, L. Bascetta - “Kinematic analysis and synthesis of the human arm motion during a manipulation task”, Convegno SIDRA 2010, L'Aquila (Italy), September 2010, 13th-15th. [M4] A.M. Zanchettin - “Optimisation-based design for linear control systems”, Politecnico di Milano, Dipartimento di Elettronica e Informazione, Internal Report, num. 2010.26. [M5] L. Bascetta, G. Magnani, P. Rocco, M. Rossi, A.M. Zanchettin - “Teleoperated and Autonomous All Terrain Mobile Robot (TA-ATMR)”, B&R First European Industrial Ethernet Award, Salzburg (Austria), June 2009, 27th, fourth classified.
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