Alessio De Luca

Istituto Italiano di Tecnologia | IIT · Humanoids and Human Centered Mechatronics

Mobile robotic platforms that are expected to be engaged in applications domains characterized by unstructured terrains and environment settings will unavoidably face mobility constraints that may not be overcome by classical navigation planning and obstacle avoidance/negotiation tools. Endowing these robots with additional skills, which enable the...

This manuscript introduces a mobile cobot equipped with a custom-designed high payload arm called RELAX combined with a novel unified multimodal interface that facilitates Human–Robot Collaboration (HRC) tasks requiring high-level interaction forces on a real-world scale. The proposed multimodal framework is capable of combining physical interactio...

Performing autonomous navigation in cluttered and unstructured terrains still remains a challenging task for legged and wheeled mobile robots. To accomplish such a task, online planners shall incorporate new terrain information perceived while the robot is moving within its environment. While hybrid mobility robots offer high flexibility in travers...

Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine communication media or tools should be questioned, and new communication modalities should be explored. This article pro...

The teleoperation of robots with human-like capabilities may pose significant challenges to the human operator due to the kinematic complexity and redundancy of these robots. Bimanual telemanipulation represents such a challenging task that requires precise coordination of the two arms to perform a stable bimanual grasp on an object and eventually...

Wheeled-legged robots have the potential to navigate in cluttered and irregular scenarios by altering the locomotion modes to adapt to the terrain challenges and effectively reach targeted locations in unstructured spaces. To achieve this functionality, a hybrid locomotion planner is necessary. In this work we present a search-based planner, which...

Wheeled-legged robots have the potential to navigate in cluttered and irregular scenarios by altering the locomotion modes to adapt to the terrain challenges and effectively reach targeted locations in unstructured spaces. To achieve this functionality, a hybrid locomotion planner is necessary. In this work we present a search-based planner, which...

Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine communication media or tools should be questioned, and new communication modalities should be explored. This article pro...

The development of autonomous legged/wheeled robots with the ability to navigate and execute tasks in unstructured environments is a well-known research challenge. In this work we introduce a methodology that permits a hybrid legged/wheeled platform to realize terrain traversing functionalities that are adaptable, extendable and can be autonomously...