F
Fabrizio Caccavale
Researcher at University of Basilicata
Publications - 141
Citations - 3976
Fabrizio Caccavale is an academic researcher from University of Basilicata. The author has contributed to research in topics: Industrial robot & Motion control. The author has an hindex of 36, co-authored 137 publications receiving 3498 citations. Previous affiliations of Fabrizio Caccavale include University of Naples Federico II.
Papers
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Journal ArticleDOI
Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators
TL;DR: In this paper, a general impedance control scheme is adopted, which encompasses a centralized impedance control strategy aimed at conferring compliant behavior at the object level, and a decentralized impedance control, enforced at the end-effector level, aimed at avoiding large internal loading of the object.
Journal ArticleDOI
Six-DOF impedance control based on angle/axis representations
TL;DR: A new approach to 6-DOF impedance control is proposed, where the end-effector orientation displacement is derived from the rotation matrix expressing the mutual orientation between the compliant frame and the desired frame.
Proceedings ArticleDOI
6D physical interaction with a fully actuated aerial robot
Markus Ryll,Giuseppe Muscio,Francesco Pierri,Elisabetta Cataldi,Gianluca Antonelli,Fabrizio Caccavale,Antonio Franchi +6 more
TL;DR: An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction.
Journal ArticleDOI
Decentralized time-varying formation control for multi-robot systems
TL;DR: Proof of the overall convergence of the controller–observer schema for different kinds of connection topologies, as well as for the cases of unsaturated and saturated control inputs is presented.
Journal ArticleDOI
A novel adaptive control law for underwater vehicles
TL;DR: This paper proposes an approach to the design of control laws for underwater vehicles that takes into account the hydrodynamic effects affecting the tracking performance, and adopts quaternions to represent attitude errors, thus avoiding representation singularities that occur when using instead Euler angles.