Curriculum Vitae Andrea Maria Zanchettin - Politecnico di Milano-DEIB

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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