N
Nicola Pedrocchi
Researcher at National Research Council
Publications - 125
Citations - 1643
Nicola Pedrocchi is an academic researcher from National Research Council. The author has contributed to research in topics: Robot & Computer science. The author has an hindex of 19, co-authored 104 publications receiving 1102 citations.
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Motion planning and scheduling for human and industrial-robot collaboration
TL;DR: In this paper, an innovative integrated motion planning and scheduling methodology that provides a set of robot trajectories for each task as well as an interval on the robot execution time for each trajectory and optimizes, at relevant time steps, a task plan, minimizing the cycle time through trajectory selection, task sequence and task allocation.
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Model-Based Reinforcement Learning Variable Impedance Control for Human-Robot Collaboration
Loris Roveda,Jeyhoon Maskani,Paolo Franceschi,Arash Abdi,Francesco Braghin,Lorenzo Molinari Tosatti,Nicola Pedrocchi +6 more
TL;DR: The proposed MBRL variable impedance controller shows improved human-robot collaboration and is capable to actively assist the human in the target task, compensating for the unknown part weight.
Journal ArticleDOI
Safe Human-Robot Cooperation in an Industrial Environment
TL;DR: A collision avoidance strategy allowing on-line re-planning of robot motion and a safe network of unsafe devices as a suggested infrastructure for functional safety achievement are addressed.
Journal ArticleDOI
Optimal Impedance Force-Tracking Control Design With Impact Formulation for Interaction Tasks
Loris Roveda,Niccolò Iannacci,Federico Vicentini,Nicola Pedrocchi,Francesco Braghin,Lorenzo Molinari Tosatti +5 more
TL;DR: The letter presents a force-tracking impedance controller granting a free-overshoots contact force (mandatory performance for many critical interaction tasks such as polishing) for partially unknown interacting environments (such as leather or hard-fragile materials).
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Iterative Learning Procedure With Reinforcement for High-Accuracy Force Tracking in Robotized Tasks
TL;DR: This paper focuses on industrial interaction robotics tasks, investigating a control approach involving multiples learning levels for training the manipulator to execute a repetitive (partially) changeable task, accurately controlling the interaction.