Publications

Publications

Journal articles, conference papers and preprints from the lab. Search by title, author or venue, or filter by type and year.

Preprints4 papers

  1. Preprint

    A Tutorial on Shape Servoing of Deformable Objects-Part II: Advanced Concepts

    Ignacio Cuiral-Zueco, Alessio Caporali, Miguel Aranda, Gianluca Palli, Gonzalo López-Nicolás, Youcef Mezouar

    arXiv preprint arXiv:2611.03825

    arXiv
  2. Preprint

    A Tutorial on Shape Servoing of Deformable Objects-Part I: Fundamentals

    Ignacio Cuiral-Zueco, Alessio Caporali, Miguel Aranda, Gianluca Palli, Gonzalo López-Nicolás, Youcef Mezouar

    arXiv preprint arXiv:2610.40559

    arXiv
  3. Preprint

    Real Time Collision Avoidance with GPU-Computed Distance Maps

    Wendwosen Bellete Bedada, Gianluca Palli

    arXiv preprint arXiv:2407.02363

    arXiv
  4. Preprint

    High-accuracy estimation of vehicle sideslip angle and lateral tire forces through nonlinear sliding mode observer

    H. Razmjooei, G. Palli, S. Strano, C. Tordela, M. Terzo

    Available at SSRN 4869189

    SSRN

202617 papers

  1. Journal

    Sloshing-Height Detection Using RGB Action Cameras

    Roberto Di Leva, Simone Soprani, Luigi Biagiotti, Gianluca Palli, Marco Carricato

    IEEE Robotics and Automation Practice, pp. 1–6

    Paper
  2. Journal

    ROTOTILLER: Rolling Optimization of Tasks and Online Trajectories for Integrated Multi-Robot Task Allocation and Fleet Navigation

    Filippo Guarda, Gianluca Palli

    Robotics, vol. 15, no. 10, p. 189

    Paper
  3. Journal

    Fast GPU evaluation of differentiable Signed Distance Fields for robotics via tensor decompositions

    Andrea Govoni, Sylvain Calinon, Gianluca Palli

    Robotics and Autonomous Systems, vol. 206, p. 105717

    Paper
  4. Journal

    Mechatronic Development of a Climbing Robot for Continuous WAAM 3-D Printing

    Andrea Govoni, Lidiana Arrè, Robin Joseph, Davide Samorì, Alessandro Ascari, Michele Palermo, Gianluca Palli

    IEEE/ASME Transactions on Mechatronics, pp. 1–12

    Paper
  5. Journal

    Experimental verification of nonlinear sliding mode observer for accurate estimation of vehicle sideslip angle and lateral tire forces

    Hamid Razmjooei, Gianluca Palli, Salvatore Strano, Ciro Tordela, Mario Terzo, Mohammad Hossein Shafiei

    Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 240, no. 7, pp. 4181–4196

    Paper
  6. Journal

    Development of sliding mode observers for estimating sideslip angle and lateral forces in road vehicles

    Hamid Razmjooei, Gianluca Palli, Salvatore Strano, Ciro Tordela

    Transactions of the Institute of Measurement and Control, vol. 48, no. 9, pp. 2032–2044

    Paper
  7. Journal

    Hidden Markov Model-Based Shared Autonomy for Grip Strength Regulation in sEMG Driven Robot Hand Control

    Alessandra Bernardini, Roberto Meattini, Alex Pasquali, Gianluca Laudante, Cosimo Gentile, Emanuele Gruppioni, Gianluca Palli, Claudio Melchiorri

    IEEE Transactions on Robotics, vol. 42, pp. 2249–2268

    Paper
  8. Journal

    Sloshing-height estimation for liquid-filled containers under four-dimensional motions including spatial translation and rotation about a fixed direction: modelling and experimental validation

    Roberto Di Leva, Simone Soprani, Gianluca Palli, Luigi Biagiotti, Marco Carricato

    Nonlinear Dynamics, vol. 114, no. 8

    Paper
  9. Journal

    Robotic perception and manipulation of deformable linear objects: A survey

    Alessio Caporali, Ignacio Cuiral-Zueco, Gonzalo López-Nicolás, Gianluca Palli

    The International Journal of Robotics Research

    Paper
  10. Journal

    Real-time collision avoidance with robot distance fields in a task-priority framework

    Andrea Govoni, Michela Cavuoto, Yiming Li, Sylvain Calinon, Gianluca Palli

    Robotics and Autonomous Systems, vol. 200, p. 105394

    Paper
  11. Journal

    Vision and Tactile Sensing for DLO Manipulation and Pin Insertion in Robotic Connector Assembly

    Alessio Caporali, Michele Mirto, Salvatore Pirozzi, Gianluca Palli

    IEEE/ASME Transactions on Mechatronics, vol. 31, no. 5, pp. 5186–5197

    Paper
  12. Conference

    Model Predictive Control for Non-Prehensile Robotic Manipulation of Liquid Containers with Sloshing Boundedness Guarantees

    Giorgio Medico, Roberto Di Leva, Gianluca Palli, Marco Carricato, Luigi Biagiotti

    2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–8

    Paper
  13. Conference

    Closed-Form Tilting Compensation for Slosh-Free Robotic Trajectories with Prescribed Yaw

    Simone Soprani, Roberto Di Leva, Gianluca Palli, Marco Carricato, Luigi Biagiotti

    2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–8

    Paper
  14. Conference

    A Dual-Arm Robotic System for Autonomous Connector Assembly via Vision-Tactile Sensing and Contact-Based Pose Refinement

    Michele Mirto, Alessio Caporali, Žiga Gosar, Salvatore Pirozzi, Gianluca Palli

    2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–6

    Paper
  15. Conference

    Enhancing Sim2Real Transfer for Torque-Controlled Robots through Real2Sim Dynamics Estimation and Reinforcement Learning

    Davide Bargellini, Alex Pasquali, Andrea Govoni, Riccardo Zanella, Gianluca Palli

    2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–6

    Paper
  16. Conference

    Hertz-Inspired Cylinder–Plane Model for Force–Voltage Mapping in Tactile Sensing

    Andrea Govoni, Michela Cavuoto, Loris Roveda, Gianluca Palli

    2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–6

    Paper
  17. Conference

    Online Real2Sim Calibration of Velocity-Controlled Digital Twins via Reinforcement Learning

    Simone Utili, Andrea Govoni, Gianluca Palli

    2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–6

    Paper

202514 papers

  1. Journal

    Time-Optimal Anti-Sloshing Trajectory Planning for Multiple Liquid-Filled Containers Subject to SCARA Motion

    Andrea Ferrari, Roberto Di Leva, Simone Soprani, Luigi Biagiotti, Gianluca Palli, Marco Carricato

    IEEE Robotics and Automation Letters, vol. 11, no. 2, pp. 1762–1769

    Paper
  2. Journal

    Comparative Study on the Suitability of Free-Boundary Parameterization Techniques for 3D Geometry-Aware Path Generation

    Mahrukh Mahrukh, Gianluca Palli, Mattia Gambazza, Claudio Melchiorri

    Robotics, vol. 14, no. 11, p. 160

    Paper
  3. Journal

    A Robotic System for Medical Hoses Manipulation and Quality Check

    Andrea Govoni, Gianluca Laudante, Michele Mirto, Olga Pennacchio, Gianluca Palli, Salvatore Pirozzi, Nicola Spatarella

    IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 22699–22714

    Paper
  4. Journal

    Programming Robot Interaction Behavior During Kinesthetic Teaching Exploiting sEMG-Based Interfacing and Vibrotactile Feedback

    Roberto Meattini, Andrea Govoni, Kevin Galassi, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri

    IEEE/ASME Transactions on Mechatronics, vol. 30, no. 5, pp. 4011–4022

    Paper
  5. Journal

    Virtual and Physical Prototyping of a Cable-Driven Compliant Robotic Wrist

    Mario Baggetta, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli

    IEEE/ASME Transactions on Mechatronics, vol. 30, no. 5, pp. 4000–4010

    Paper
  6. Journal

    Robotic Manipulation of Deformable Linear Objects via Multiview Model-Based Visual Tracking

    Alessio Caporali, Gianluca Palli

    IEEE/ASME Transactions on Mechatronics, vol. 30, no. 5, pp. 3966–3977

    Paper
  7. Journal

    GNN Topology Representation Learning for Deformable Multi-Linear Objects Dual-Arm Robotic Manipulation

    Alessio Caporali, Kevin Galassi, Riccardo Zanella, Gianluca Palli

    IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 14738–14751

    Paper
  8. Journal

    Mechatronic Integration of a Dual-Arm Robotic System for Wiring Harness Manufacturing

    Gianluca Laudante, Michele Mirto, Olga Pennacchio, Kevin Galassi, Andrea Govoni, Alex Pasquali, Salvatore Pirozzi, Žiga Gosar, Gianluca Palli

    IEEE/ASME Transactions on Mechatronics, vol. 30, no. 5, pp. 3880–3891

    Paper
  9. Conference

    Robotic Path Projection from 2D Square to 3D Single Patch Surfaces Using ARAP Parameterization

    Mahrukh Mahrukh, Gianluca Palli, Mattia Gambazza, Claudio Melchiorri

    2025 25th International Conference on Control, Automation and Systems (ICCAS), pp. 321–326

    Paper
  10. Conference

    User-Tailored Fuzzy-Based Grasp Strength Regulation in Myocontrolled Robotic Hands

    Mohammad Sheikhsamad, Roberto Meattini, Davide Chiaravalli, Raal Suárez, Jan Rosell, Gianluca Palli

    2025 IEEE 30th International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 1–8

    Paper
  11. Conference

    Design and Integration of a Robotic Gripper and Warehouse System for Automated Cable Assembly

    Andrea Govoni, Michela Cavuoto, Miriam Massini Alunni, Maurizio Indovini, Gianluca Palli

    2025 IEEE 21st International Conference on Automation Science and Engineering (CASE), pp. 596–601

    Paper
  12. Conference

    Singularity Avoidance for 6-DOF Robots Using Holonomic Base Through Task-Priority Approach

    Andrea Govoni, Emanuele Pedivellano, Michela Cavuoto, Gianluca Palli

    2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–6

    Paper
  13. Conference

    Towards Automated Connector Assembly: Wire Insertion Combining Tactile and Vision Sensors

    Michele Mirto, Alessio Caporali, Gianluca Laudante, Salvatore Pirozzi, Gianluca Palli

    2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1–7

    Paper
  14. Conference

    Comparison Of Weakly Supervised Regression Of sEMG Signals With State-Of-the-Art Unsupervised Methods For Robot Hand Control: A Pilot Study

    Roberto Meattini, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri

    IFAC-PapersOnLine, vol. 59, no. 18, pp. 61–66

    Paper

202414 papers

  1. Journal

    DLO Perceiver: Grounding Large Language Model for Deformable Linear Objects Perception

    Alessio Caporali, Kevin Galassi, Gianluca Palli

    IEEE Robotics and Automation Letters, vol. 9, no. 12, pp. 11385–11392

    Paper
  2. Journal

    Neuromuscular Interfacing for Advancing Kinesthetic and Teleoperated Programming by Demonstration of Collaborative Robots

    Roberto Meattini, Armando Amerì, Alessandra Bernardini, Javier Gonzalez-Huarte, Aitor Ibarguren, Claudio Melchiorri, Gianluca Palli

    IEEE Transactions on Haptics, vol. 18, no. 1, pp. 45–57

    Paper
  3. Journal

    Learning passive policies with virtual energy tanks in robotics

    Riccardo Zanella, Gianluca Palli, Stefano Stramigioli, Federico Califano

    IET Control Theory & Applications, vol. 18, no. 5, pp. 541–550

    Paper
  4. Journal

    Deformable Linear Objects Manipulation With Online Model Parameters Estimation

    Alessio Caporali, Piotr Kicki, Kevin Galassi, Riccardo Zanella, Krzysztof Walas, Gianluca Palli

    IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2598–2605

    Paper PDF Website
  5. Journal

    A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

    Mario Baggetta, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli

    IEEE/ASME Transactions on Mechatronics, vol. 29, no. 2, pp. 1052–1063

    Paper
  6. Conference

    Deformable Objects Perception is Just a Few Clicks Away – Dense Annotations from Sparse Inputs

    Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli

    2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5880–5887

    Paper
  7. Conference

    Virtual Prototyping of a Cable-Driven Compliant Robotic Wrist

    Mario Baggetta, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli

    2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), pp. 1–7

    Paper
  8. Conference

    Challenges in Detecting and Analyzing EEG Error-Related Potentials: Lessons from a Case Study in HRI

    Alessandra Fava, Adriana Lucchese, Roberto Meattini, Gianluca Palli, Valeria Villani, Lorenzo Sabattini

    2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), pp. 1618–1623

    Paper
  9. Conference

    Additively Manufactured Flexible Endoscope Driven By Guided Antagonistic Twisted String Actuation: A Pilot Experimental Evaluation

    Edoardo Fratarcangeli, Andrea Govoni, Giuliano A. Giacoppo, Leonhard Heinrich, Roberto Meattini, Peter P. Pott, Gianluca Palli

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 867–872

    Paper
  10. Conference

    Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

    Alex Pasquali, Miriam Massini Alunni, Davide Chiaravalli, Gianluca Palli

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 942–947

    Paper
  11. Conference

    Scalable Shared Encoding Architecture for Learning-Based Error Detection in Robotic Wiring Harness Assembly

    Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 518–523

    Paper
  12. Conference

    Monocular Estimation of Connector Orientation: Combining Deformable Linear Object Priors and Smooth Angle Classification

    Alessio Caporali, Kevin Galassi, Giovanni Berselli, Gianluca Palli

    2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), pp. 799–804

    Paper
  13. Conference

    Attention-Based Cloth Manipulation from Model-free Topological Representation

    Kevin Galassi, Bingbing Wu, Julien Perez, Gianluca Palli, Jean-Michel Renders

    2024 IEEE International Conference on Robotics and Automation (ICRA), pp. 18207–18213

    Paper
  14. Conference

    Development of an automated land-based system for cow monitoring

    M. Bovo, G. Palli, D. Torreggiani, P. Tassinari

    11th European Conference on Precision Livestock Farming, 1480-1486

    Scholar

202311 papers

  1. Journal

    Self-Supervised Regression of sEMG Signals Combining Non-Negative Matrix Factorization With Deep Neural Networks for Robot Hand Multiple Grasping Motion Control

    Roberto Meattini, Alessio Caporali, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri

    IEEE Robotics and Automation Letters, vol. 8, no. 12, pp. 8533–8540

    Paper PDF Code
  2. Journal

    Deformable Linear Objects 3D Shape Estimation and Tracking From Multiple 2D Views

    Alessio Caporali, Kevin Galassi, Gianluca Palli

    IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3852–3859

    Paper PDF Code
  3. Journal

    Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

    Luigi Biagiotti, Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri

    IEEE Transactions on Robotics, vol. 39, no. 4, pp. 3259–3278

    Paper
  4. Journal

    RT-DLO: Real-Time Deformable Linear Objects Instance Segmentation

    Alessio Caporali, Kevin Galassi, Bare Luka Žagar, Riccardo Zanella, Gianluca Palli, Alois C Knoll

    IEEE Transactions on Industrial Informatics, vol. 19, no. 11, pp. 11333–11342

    Paper PDF Code
  5. Journal

    Design and experimental validation of an adaptive fast-finite-time observer on uncertain electro-hydraulic systems

    Hamid Razmjooei, Gianluca Palli, Elahe Abdi, Mario Terzo, Salvatore Strano

    Control Engineering Practice, vol. 131, p. 105391

    Paper
  6. Journal

    A Weakly Supervised Semi-Automatic Image Labeling Approach for Deformable Linear Objects

    Alessio Caporali, Matteo Pantano, Lucas Janisch, Daniel Regulin, Gianluca Palli, Dongheui Lee

    IEEE Robotics and Automation Letters, vol. 8, no. 2, pp. 1013–1020

    Paper PDF Code
  7. Journal

    Adaptive fast-finite-time extended state observer design for uncertain electro-hydraulic systems

    Hamid Razmjooei, Gianluca Palli, Farrokh Janabi-Sharifi, Shahpour Alirezaee

    European Journal of Control, vol. 69, p. 100749

    Paper
  8. Conference

    Conceptual Design and Virtual Prototyping of a Compliant, Low-Cost Prosthetic Hand

    Mario Baggetta, Vazzoler Margherita, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli

    ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems

    Paper
  9. Conference

    Copy and Paste Augmentation for Deformable Wiring Harness Bags Segmentation

    Bare Luka Žagar, Alessio Caporali, Amadeusz Szymko, Piotr Kicki, Krzysztof Walas, Gianluca Palli, Alois C Knoll

    2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 721–726

    Paper
  10. Conference

    A Vision-based Shared Autonomy Framework for Deformable Linear Objects Manipulation

    Davide Chiaravalli, Alessio Caporali, Anna Friz, Roberto Meattini, Gianluca Palli

    2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 733–738

    Paper
  11. Conference

    A Fast Score-Based Method for Robotic Task-Free Point-to-Point Path Learning

    Alex Pasquali, Kevin Galassi, Gianluca Palli

    2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1159–1164

    Paper

202214 papers

  1. Journal

    Design, modeling, and control of a variable stiffness elbow joint

    Mario Baggetta, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri

    The International Journal of Advanced Manufacturing Technology, vol. 122, no. 11-12, pp. 4437–4451

    Paper
  2. Journal

    Human to Robot Hand Motion Mapping Methods: Review and Classification

    Roberto Meattini, Raúl Suárez, Gianluca Palli, Claudio Melchiorri

    IEEE Transactions on Robotics, vol. 39, no. 2, pp. 842–861

    Paper
  3. Journal

    FASTDLO: Fast Deformable Linear Objects Instance Segmentation

    Alessio Caporali, Kevin Galassi, Riccardo Zanella, Gianluca Palli

    IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9075–9082

    Paper PDF Code
  4. Journal

    Ariadne+: Deep Learning–Based Augmented Framework for the Instance Segmentation of Wires

    Alessio Caporali, Riccardo Zanella, Daniele De Greogrio, Gianluca Palli

    IEEE Transactions on Industrial Informatics, vol. 18, no. 12, pp. 8607–8617

    Paper PDF Code
  5. Journal

    Disturbance observer-based nonlinear feedback control for position tracking of electro-hydraulic systems in a finite time

    Hamid Razmjooei, Gianluca Palli, Morad Nazari

    European Journal of Control, vol. 67, p. 100659

    Paper
  6. Journal

    Continuous finite-time extended state observer design for electro-hydraulic systems

    Hamid Razmjooei, Gianluca Palli, Elahe Abdi

    Journal of the Franklin Institute, vol. 359, no. 10, pp. 5036–5055

    Paper
  7. Journal

    Non-linear Finite-Time Tracking Control of Uncertain Robotic Manipulators Using Time-Varying Disturbance Observer-Based Sliding Mode Method

    Hamid Razmjooei, Mohammad Hossein Shafiei, Gianluca Palli, Mohammad Mehdi Arefi

    Journal of Intelligent & Robotic Systems, vol. 104, no. 2

    Paper
  8. Journal

    Finite-time continuous extended state observers: design and experimental validation on electro-hydraulic systems✰

    Hamid Razmjooei, Gianluca Palli, Elahe Abdi, Salvatore Strano, Mario Terzo

    Mechatronics, vol. 85, p. 102812

    Paper
  9. Journal

    Estimation of tire-road contact forces through a model-based approach employing strain measurements

    Daniel Garcia-Pozuelo, Oluremi Olatunbosun, Gianluca Palli, Salvatore Strano, Mario Terzo, Ciro Tordela

    Meccanica, vol. 57, no. 8, pp. 1801–1829

    Paper
  10. Journal

    sEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

    Roberto Meattini, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri

    IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10144–10151

    Paper
  11. Journal

    Simulative Evaluation of a Joint-Cartesian Hybrid Motion Mapping for Robot Hands Based on Spatial In-Hand Information

    Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri

    Frontiers in Robotics and AI, vol. 9

    Paper
  12. Conference

    Cable Detection and Manipulation for DLO-in-Hole Assembly Tasks

    Kevin Galassi, Alessio Caporali, Gianluca Palli

    2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS), pp. 01–06

    Paper
  13. Conference

    Mechatronic Design and Physical Prototyping of a Three-Fingered Gripper for Underwater Manipulation

    Mario Baggetta, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri

    ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems

    Paper
  14. Conference

    Experimental Evaluation Of Intuitive Programming Of Robot Interaction Behaviour During Kinesthetic Teaching Using sEMG And Cutaneous Feedback

    Roberto Meattini, Davide Chiaravalli, Kevin Galassi, Gianluca Palli, Claudio Melchiorri

    IFAC-PapersOnLine, vol. 55, no. 38, pp. 1–6

    Paper

202118 papers

  1. Journal

    Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

    Jacopo Aleotti, Alberto Baldassarri, Marcello Bonfè, Marco Carricato, Davide Chiaravalli, Roberto Di Leva, Cesare Fantuzzi, Saverio Farsoni, Gino Innero, Dario Lodi Rizzini, Claudio Melchiorri, Riccardo Monica, Gianluca Palli, Jacopo Rizzi, Lorenzo Sabattini, Gianluca Sampietro, Federico Zaccaria

    Applied Sciences, vol. 11, no. 13, p. 5959

    Paper
  2. Journal

    A Mobile Robotized System for Depalletizing Applications: Design and Experimentation

    Federico Zaccaria, Alberto Baldassarri, Gianluca Palli, Marco Carricato

    IEEE Access, vol. 9, pp. 96682–96691

    Paper
  3. Journal

    Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands

    Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri

    IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5517–5524

    Paper
  4. Journal

    New model-based manipulation technique for reshaping deformable linear objects

    Alaa Khalifa, Gianluca Palli

    The International Journal of Advanced Manufacturing Technology, vol. 118, no. 11-12, pp. 3575–3583

    Paper
  5. Journal

    Robot Learning-Based Pipeline for Autonomous Reshaping of a Deformable Linear Object in Cluttered Backgrounds

    Riccardo Zanella, Gianluca Palli

    IEEE Access, vol. 9, pp. 138296–138306

    Paper PDF
  6. Journal

    Combining Unsupervised Muscle Co-Contraction Estimation With Bio-Feedback Allows Augmented Kinesthetic Teaching

    Roberto Meattini, Davide Chiaravalli, Luigi Biagiotti, Gianluca Palli, Claudio Melchiorri

    IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6180–6187

    Paper
  7. Journal

    Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

    Alaa Khalifa, Gianluca Palli

    Journal of Computational and Nonlinear Dynamics, vol. 17, no. 1

    Paper
  8. Journal

    Beyond the Baseline: 3D Reconstruction of Tiny Objects WithSingle CameraStereoRobot

    Daniele De Gregorio, Matteo Poggi, Pierluigi Zama Ramirez, Gianluca Palli, Stefano Mattoccia, Luigi Di Stefano

    IEEE Access, vol. 9, pp. 119755–119765

    Paper
  9. Conference

    Auto-generated Wires Dataset for Semantic Segmentation with Domain-Independence

    Riccardo Zanella, Alessio Caporali, Kalyan Tadaka, Daniele De Gregorio, Gianluca Palli

    2021 International Conference on Computer, Control and Robotics (ICCCR), pp. 292–298

    Paper PDF Dataset
  10. Conference

    sEMG-based Regression of Hand Kinematics with Temporal Convolutional Networks on a Low-Power Edge Microcontroller

    Marcello Zanghieri, Simone Benatti, Alessio Burrello, Victor Javier Kartsch Morinigo, Roberto Meattini, Gianluca Palli, Claudio Melchiorri, Luca Benini

    2021 IEEE International Conference on Omni-Layer Intelligent Systems (COINS), pp. 1–6

    Paper
  11. Conference

    Robotic Wires Manipulation for Switchgear Cabling and Wiring Harness Manufacturing

    Kevin Galassi, Gianluca Palli

    2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), pp. 531–536

    Paper
  12. Conference

    3D DLO Shape Detection and Grasp Planning from Multiple 2D Views

    Alessio Caporali, Kevin Galassi, Gianluca Palli

    2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 424–429

    Paper
  13. Conference

    Combining Vision and Tactile Data for Cable Grasping

    Alessio Caporali, Kevin Galassi, Gianluca Laudante, Gianluca Palli, Salvatore Pirozzi

    2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 436–441

    Paper
  14. Conference

    Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

    Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra, Gianluca Laudante, Salvatore Pirozzi, Kevin Galassi, Gianluca Palli

    2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), pp. 525–530

    Paper
  15. Conference

    Validating DLO Models from Shape Observation

    Gianluca Palli, Salvatore Pirozzi

    2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 430–435

    Paper
  16. Conference

    Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings

    Daniele De Gregorio, Riccardo Zanella, Gianluca Palli, Luigi Di Stefano

    2020 25th International Conference on Pattern Recognition (ICPR), pp. 7419–7426

    Paper
  17. Conference

    A Cyber-Physical System for Clothes Detection, Manipulation and Washing Machine Loading

    Alessio Caporali, Wendwosen Bellete Bedada, Gianluca Palli

    2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), pp. 519–524

    Paper
  18. Conference

    Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface

    Linda Feenstra, Umberto Scarcia, Riccardo Zanella, Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri

    2021 20th International Conference on Advanced Robotics (ICAR), pp. 757–762

    Paper

202013 papers

  1. Journal

    A sEMG-Driven Soft ExoSuit Based on Twisted String Actuators for Elbow Assistive Applications

    Mohssen Hosseini, Roberto Meattini, Andres San-Millan, Gianluca Palli, Claudio Melchiorri, Jamie Paik

    IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4094–4101

    Paper
  2. Journal

    Virtual and physical prototyping of a beam-based variable stiffness actuator for safe human-machine interaction

    Pietro Bilancia, Giovanni Berselli, Gianluca Palli

    Robotics and Computer-Integrated Manufacturing, vol. 65, p. 101886

    Paper
  3. Journal

    A novel adaptive-gain technique for high-order sliding-mode observers with application to electro-hydraulic systems

    Gianluca Palli, Salvatore Strano, Mario Terzo

    Mechanical Systems and Signal Processing, vol. 144, p. 106875

    Paper
  4. Journal

    sEMG-Based Human-in-the-Loop Control of Elbow Assistive Robots for Physical Tasks and Muscle Strength Training

    Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri

    IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 5795–5802

    Paper
  5. Journal

    Chattering‐free robust finite‐time output feedback control scheme for a class of uncertain non‐linear systems

    Hamid Razmjooei, Mohammad Hossein Shafiei, Gianluca Palli, Asier Ibeas

    IET Control Theory & Applications, vol. 14, no. 19, pp. 3168–3178

    Paper
  6. Conference

    Integration of a Multi-Camera Vision System and Admittance Control for Robotic Industrial Depalletizing

    Davide Chiaravalli, Gianluca Palli, Riccardo Monica, Jacopo Aleotti, Dario Lodi Rizzini

    2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

    Paper
  7. Conference

    Development of a Mobile Robotized System for Palletizing Applications

    Alberto Baldassarri, Gino Innero, Roberto Di Leva, Gianluca Palli, Marco Carricato

    2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 395–401

    Paper
  8. Conference

    Pointcloud-based Identification of Optimal Grasping Poses for Cloth-like Deformable Objects

    Alessio Caporali, Gianluca Palli

    2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 581–586

    Paper
  9. Conference

    Model-based Manipulation of Deformable Linear Objects by Multivariate Dynamic Splines

    Gianluca Palli

    2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), pp. 520–525

    Paper
  10. Conference

    Combined Joint-Cartesian Mapping for Simultaneous Shape and Precision Teleoperation of Anthropomorphic Robotic Hands

    R. Meattini, D. Chiaravalli, L. Biagiotti, G. Palli, C. Melchiorri

    IFAC-PapersOnLine, vol. 53, no. 2, pp. 10052–10057

    Paper
  11. Conference

    A Hybrid Genetic Algorithm for Pallet Loading in Real-World Applications

    Gabriele Ancora, Gianluca Palli, Claudio Melchiorri

    IFAC-PapersOnLine, vol. 53, no. 2, pp. 10006–10010

    Paper
  12. Conference

    A Safe and Energy Efficient Robotic System for Industrial Automatic Tests on Domestic Appliances: Problem Statement and Proof of Concept

    Wendwosen Bellete Bedada, Rawan Kalawoun, Ismayil Ahmadli, Gianluca Palli

    Procedia Manufacturing, vol. 51, pp. 454–461

    Paper
  13. Conference

    A Low Cost Tactile Sensor for Large Surfaces Based on Deformable Skin with Embedded IMU

    Yuki Iwamoto, Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Koji Shibuya, Claudio Melchiorri

    2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), pp. 501–506

    Paper

20198 papers

  1. Journal

    Semiautomatic Labeling for Deep Learning in Robotics

    Daniele De Gregorio, Alessio Tonioni, Gianluca Palli, Luigi Di Stefano

    IEEE Transactions on Automation Science and Engineering, vol. 17, no. 2, pp. 611–620

    Paper
  2. Journal

    A Tactile-Based Wire Manipulation System for Manufacturing Applications

    Gianluca Palli, Salvatore Pirozzi

    Robotics, vol. 8, no. 2, p. 46

    Paper
  3. Journal

    Nonlinear estimation of the Bouc-Wen model with parameter boundaries: Application to seismic isolators

    Vincenzo Niola, Gianluca Palli, Salvatore Strano, Mario Terzo

    Computers & Structures, vol. 222, pp. 1–9

    Paper
  4. Conference

    DLO-in-Hole for Assembly Tasks with Tactile Feedback and LSTM Networks

    R. Zanella, D. De Gregorio, S. Pirozzi, G. Palli

    2019 6th International Conference on Control, Decision and Information Technologies (CoDIT), pp. 285–290

    Paper
  5. Conference

    Synergy-Based Control of Anthropomorphic Robotic Hands with Contact Force Sensors

    D. Ortenzi, U. Scarcia, R. Meattini, G. Palli, C. Melchiorri

    IFAC-PapersOnLine, vol. 52, no. 15, pp. 340–345

    Paper
  6. Conference

    A Control Architecture for Grasp Strength Regulation in Myocontrolled Robotic Hands Using Vibrotactile Feedback: Preliminary Results

    Roberto Meattini, Luigi Biagiotti, Gianluca Palli, Daniele De Gregorio, Claudio Melchiorri

    2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), pp. 1272–1277

    Paper
  7. Book chapter

    Automatized Switchgear Wiring: An Outline of the WIRES Experiment Results

    Gianluca Palli, Salvatore Pirozzi, Maurizio Indovini, Daniele De Gregorio, Riccardo Zanella, Claudio Melchiorri

    Springer Tracts in Advanced Robotics, pp. 107–123

    Paper
  8. Conference

    Let’s Take a Walk on Superpixels Graphs: Deformable Linear Objects Segmentation and Model Estimation

    Daniele De Gregorio, Gianluca Palli, Luigi Di Stefano

    Computer Vision – ACCV 2018 (Lecture Notes in Computer Science), pp. 662–677

    Paper

This list follows Prof. Gianluca Palli’s Google Scholar profile (2019 onward) and is updated monthly.