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Gianluca Palli
Researcher at University of Bologna
Publications - 162
Citations - 3136
Gianluca Palli is an academic researcher from University of Bologna. The author has contributed to research in topics: Computer science & Tactile sensor. The author has an hindex of 27, co-authored 139 publications receiving 2405 citations.
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Proceedings ArticleDOI
Development of UB Hand 3: Early Results
Fabrizio Lotti,Paolo Tiezzi,Gabriele Vassura,Luigi Biagiotti,Gianluca Palli,Claudio Melchiorri +5 more
TL;DR: The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps.
Journal ArticleDOI
Modeling, Identification, and Control of Tendon-Based Actuation Systems
TL;DR: A simple control strategy for the compensation of these nonlinear effects and the control of the force that is applied by the tendon to the load is proposed and experimentally verified.
Journal ArticleDOI
Modeling and Control of the Twisted String Actuation System
TL;DR: In this paper, a tendon-based actuation concept is presented for the implementation of powerful, simple, compact, and light-weight tendonbased driving systems, using as actuators small-size dc motors characterized by high speed and low torque.
Journal ArticleDOI
The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping
Gianluca Palli,Claudio Melchiorri,Gabriele Vassura,Umberto Scarcia,Lorenzo Moriello,Giovanni Berselli,Alberto Cavallo,G. De Maria,Ciro Natale,Salvatore Pirozzi,Chris May,Fanny Ficuciello,Bruno Siciliano +12 more
TL;DR: This paper is the first to give a comprehensive description of the final hand version and its use to replicate human-like grasping, and a simple control strategy based on postural synergies has been used to reduce the complexity of the grasp planning problem.
Proceedings ArticleDOI
On the feedback linearization of robots with variable joint stiffness
TL;DR: It is shown that nonlinear control laws, based either on static or dynamic state feedback, are able to exactly linearize the closed- loop equations and allow to simultaneously impose a desired behavior to the robot motion and to the joint stiffness in an decoupled way.