P
Paolo Rocco
Researcher at Polytechnic University of Milan
Publications - 216
Citations - 4243
Paolo Rocco is an academic researcher from Polytechnic University of Milan. The author has contributed to research in topics: Robot & Industrial robot. The author has an hindex of 30, co-authored 203 publications receiving 3366 citations. Previous affiliations of Paolo Rocco include Instituto Politécnico Nacional & University of Milan.
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Proceedings ArticleDOI
Implicit force control for an industrial robot based on stiffness estimation and compensation during motion
TL;DR: A position-based adaptive force control strategy, that relies on a novel method for the on line estimation of the environment stiffness, that is targeted to industrial controller structures and theoretically proven to be robust to time varying estimation errors of the environments stiffness and joint friction disturbances.
Proceedings ArticleDOI
A novel passivity-based control law for safe human-robot coexistence
TL;DR: A new control law for robotic manipulators in unstructured environments which guarantees the achievement of the goal position without incurring in local minima is presented and implemented and experimentally tested in a realistic scenario.
Journal ArticleDOI
Modular dynamic virtual-reality modeling of robotic systems
TL;DR: The article presents the specific features of a general-purpose simulation environment, including an overview of the 3D solid modeling software interfaces, and shows the performance of the whole simulation environment in terms of complexity management, efficiency, and accuracy.
Journal ArticleDOI
The structured design of an industrial robot controller
TL;DR: In this article, the authors deal with the design of an industrial robot controller featuring sensor-based control capabilities and follow the guidelines of a methodology aimed at structuring the design process, to assure traceability between the requirements and capabilities of the controller and a high degree of operational flexibility.
Proceedings ArticleDOI
Optimal placement of spots in distributed proximity sensors for safe human-robot interaction
Nicola Maria Ceriani,Giovanni Buizza Avanzini,Andrea Maria Zanchettin,Luca Bascetta,Paolo Rocco +4 more
TL;DR: A distributed proximity sensor, to be mounted on the links of the manipulator, is presented and the optimal placement of the spots of such sensor is discussed, taking into account detection capabilities and safety enhancement.