DIAG Robotics Laboratory - Sapienza Università di Roma
DIAG Robotics Laboratory - Sapienza Università di Roma

DIAG Robotics Laboratory - Sapienza Università di Roma

Presentation of the research activities at the DIAG (Department of Computer Engineering, Automation and Management) Robotics Laboratory (http://www.diag.uniroma1.it/~labrob) established in Sapienza University of Rome in the late 1980s, with a commitment to develop innovative methods for modeling, planning and control of both industrial and service robots.

The most recent activities include control and sensory supervision of human-robot interaction, motion planning and control of locomotion in humanoid robots, development of experimental and simulation systems for robot-assisted surgery, control-based motion planning for mobile manipulators. Some of the results are illustrated through interactive presentations. Visitors will also be involved in the use of some experimental systems.

Italy


DIAG Robotics Laboratory - Sapienza Università di Roma

DIAG Robotics Laboratory - Sapienza Università di Roma

The Robotics group at DIAG (Dipartimento di Ingegneria Informatica, Automatica e Gestionale) and the associated Robotics Lab (http://www.diag.uniroma1.it/~labrob/) were established at Sapienza University of Rome in the late 1980s with a commitment to develop innovative methods for modeling, planning and control of both industrial and service robots.

Over the years, original research results were obtained on several subjects, including: nonlinear control of robots; iterative learning control on repetitive tasks; hybrid force/velocity control of manipulators interacting with the environment; optimization schemes in kinematically redundant robots; motion planning and control of wheeled mobile robots and other nonholonomic mechanical systems; stabilization of underactuated robots; robot actuator fault detection and isolation; safe control of physical human-robot interaction; control of manipulators with flexible joints/links; control of locomotion platforms for VR immersion; image-based visual servoing; sensor-based navigation and exploration in unknown environments; motion planning for high-dimensional systems; multi-robot coordination and mutual localization.

In addition to further development in the above mentioned areas, recent activities include control and visual servoing for unmanned aerial vehicles (UAV), control-based motion planning for mobile manipulators, motion planning and control of locomotion in humanoid robots, and sensory supervision of human-robot interaction.

Currently active equipment at the DIAG Robotics Lab includes

3 fixed-base manipulators: a KR 5 Sixx (6-dof) and an LWR 4+ (7-dof) by KUKA, and a UR10 (6-dof) by Universal Robots
3 NAO humanoid robots by Aldebaran
2 quadrotor UAVs: a Hummingbird and a Pelican, both by Ascending Technologies
2 Geomagic Touch haptic interfaces by 3D Systems
a Cyberith Virtualizer locomotion platform for virtual reality
a Pendubot underactuated robot by Quanser
several wheeled mobile robots: an iRobot MagellanPro plus a team of K-Team Kheperas III
All these robots are equipped with sensing devices of various complexity, going from ultrasonic/laser range finders to cameras, IMUs and force/torque sensors. In the past, we have also designed and built in-house a two-link flexible manipulator (FlexArm) and a differentially-driven wheeled mobile robot (SuperMARIO).


Stand C16 (pav. 9) - Sapienza Università di Roma

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