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Viviana Morlando

dblp:324/6283 · DBLP profile ↗
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1ranked-venue papers
1as first author
1since 2021 · last 2022
—ORCID · unresolved

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 first-author · 1 since 2021Systems, architecture and hardware · 1 · 1 first-author · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot manipulation · 50% Legged, aerial and field robots · 25% Motion planning and robot control · 25%

Topics — the 4 heaviest of 5, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Legged, aerial and field robots
legged robots
0.612022
Nonprehensile Object Transportation with a Legged Manipulator · ICRA 2022
Robotics › Robot manipulation
nonprehensile manipulation
0.612022
Nonprehensile Object Transportation with a Legged Manipulator · ICRA 2022
Robotics › Robot manipulation › object manipulation
object transport
0.612022
Nonprehensile Object Transportation with a Legged Manipulator · ICRA 2022
Robotics › Motion planning and robot control
whole-body control
0.612022
Nonprehensile Object Transportation with a Legged Manipulator · ICRA 2022

Methods — techniques the papers use, named apart from their topics

quadratic optimization · 0.6contact force control · 0.6
YearPublicationVenuePosition
2022 Nonprehensile Object Transportation with a Legged Manipulator
abstract
This paper tackles the problem of nonprehensile object transportation through a legged manipulator. A whole-body control architecture is devised to prevent sliding of the object placed on the tray at the manipulator's end-effector and retain the legged robot balance during walking. The controller solves a quadratic optimization problem to realize the sought transportation task while maintaining the contact forces between the tray and the object and between the legs and the ground within their respective friction cones, also considering limits on the input torques. An extensive simulation campaign confirmed the feasibility of the approach and evaluated the control performance through a thorough statistical analysis conducted varying mass, friction, and the dimension of the transported object.
Viviana Morlando, Mario Selvaggio, Fabio Ruggiero
ICRA1