Claudio Roberto Gaz | Ricerc@Sapienza

Pubblicazioni

Titolo	Pubblicato in	Anno
On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics	IEEE ROBOTICS AND AUTOMATION LETTERS	2022
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints	IEEE ROBOTICS AND AUTOMATION LETTERS	2022
A Nonlinear Observer for a Flexible Robot Arm and its Use in Fault and Collision Detection	2022 IEEE 61st Conference on Decision and Control (CDC)	2022
Identification of Robot Dynamics from Motor Currents/Torques with Unknown Signs	I-RIM 2021 Conference	2021
Online needle-tissue interaction model identification for force feedback enhancement in robot-assisted interventional procedures	IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS	2021
Detection and isolation of actuator faults and collisions for a flexible robot arm	Proc. 59th IEEE Conference on Decision and Control	2020
Learning Feedback Linearization Control Without Torque Measurements	Proceedings of I-RIM 2020	2020
Consistency of compact and extended models of glucose-insulin homeostasis: The role of variable pancreatic reserve	PLOS ONE	2019
Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization	IEEE ROBOTICS AND AUTOMATION LETTERS	2019
An online learning procedure for feedback linearization control without torque measurements	Proceedings of 2019 Conference on Robot Learning	2019
Experiences in Safe Physical Human-Robot Interaction	2019 I-RIM Conference	2019
A model-based residual approach for human-robot collaboration during manual polishing operations	MECHATRONICS	2018
Enhancing force feedback in teleoperated needle insertion through on-line identification of the needle-tissue interaction parameters	2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)	2018
Payload estimation based on identified coefficients of robot dynamics - With an application to collision detection	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)	2017
Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods	2016 IEEE International Conference on Robotics and Automation (ICRA)	2016
A unifying organ model of pancreatic insulin secretion	PLOS ONE	2015