Gustavo Lahr

Istituto Italiano di Tecnologia | IIT · Department of Advanced Robotics

This paper proposes a hybrid optimization and learning method for impact-friendly catching objects at non-zero velocity. Through a constrained Quadratic Programming problem, the method generates optimal trajectories up to the contact point between the robot and the object to minimize their relative velocity and reduce the initial impact forces. Nex...

Epilepsy is one of the most common neurological diseases, characterized by transient and unprovoked events called epileptic seizures. Electroencephalogram (EEG) is an auxiliary method used to perform both the diagnosis and the monitoring of epilepsy. Given the unexpected nature of an epileptic seizure, its prediction would improve patient care, opt...

With an increasing use of robotic and bionic devices for the execution of everyday life, complex tasks, Electromyography (EMG) based interfaces are being explored as candidate technologies for facilitating an intuitive interaction with such devices. However, EMG-based interfaces typically require appropriate features to be extracted from the raw EM...

With an increasing use of robotic and bionic devices for the execution of everyday life, complex tasks, Electromyography (EMG) based interfaces are being explored as candidate technologies for facilitating an intuitive interaction with such devices. However, EMG-based interfaces typically require appropriate features to be extracted from the raw EM...

The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various machine learning techniques have been proposed to give the robot such adaptability features. This paper propos...

Epilepsy is one of the most common neurological diseases, characterized by transient and unprovoked events called epileptic seizures. Electroencephalogram (EEG) is an auxiliary method used to perform both the diagnosis and the monitoring of epilepsy. Given the unexpected nature of an epileptic seizure, its prediction would improve patient care, opt...

This paper explores the kinematic relation between the robot configuration in joint space and both the robot tool center point (TCP) position resolution and the robot end-effector orientation resolution with the purpose of reducing error. In the context of the use of redundant robots in neurosurgery for the placement of deep SEEG electrodes in the...

Robotics manipulation is still a challenge in many scenarios, especially when the orientation of the tool or part is determinant for task success. A study with pivoting, an in-hand manipulation technique, was conducted, which consists in re-orienting the part around one rotational axis without dropping. It gets more complex in industrial robots, wh...

This paper presents the implementation of an optimization method to find, without knowledge of the environment characteristics, the best interaction controller parameters to revamp the coupled dynamics. The objective is to improve various industrial robot applications that involves mechanical contact. An enhanced contact is accomplished by lowering...

The usage of simulated environments for robotics tasks enables the design and preliminary analysis of trajectory planners. There are different methods that can be used to generate paths, and controllers that allow the strategy definition at a higher level are extremely useful. This study seeks to generate trajectories in a simulated environment thr...

Fasteners assembly automation in different industries require flexible systems capable of dealing with faulty situations. Fault detection and isolation (FDI) techniques are used to detect failure and deal with them, avoiding losses on parts, tools or robots. However, FDI usually deals with the faults after or at the moment they occur. Thus, we prop...

Impedance control is commonly implemented for robotic contact applications. Its performance is a function of the dynamic coupling between the environment and the robot's impedance controller: inertia, stiffness and damping. An interaction task may be considered successfully accomplished when the elected performance criteria, such as rise time, over...

This study reports the development of a servo-controlled power-assisted wheelchair, designed to reduce the loads on the upper limbs while maintaining the drivability of a manual chair. It is presented the concept and implementation of an assisted propulsion system, focusing on the assistance controlling and the torque transmission.

Macro-micro systems have many different implementations in robotics. It is especially important since it combines the characteristics of two different robots, reaching a new different configuration with a performance that would not be possible using the systems separately. However, the implementation of interaction controllers depends on the compli...

This study reports the development of a servo-controlled power-assisted wheelchair, designed to reduce the loads on the upper limbs while maintaining the drivability of a manual chair. It is presented the concept and implementation of an assisted propulsion system, focusing on the assistance controlling and the torque transmission.

This work studies two different algorithms for the simulation and implementation of impedance control. Potential applications for using force control can be found in the whole industry and academia. Since its proposal, impedance control became one of the most used force control techniques, dealing with the non linear nature of contact and ensuring...

Este trabalho analisa a utilização de um algoritmo genético multi-objetivo para a obtenção dos melhores ganhos de um controlador de impedância. Em diversas tarefas robôs entram em contato com o ambiente, sendo esta uma situação intrinsecamente nãolinear. O controle de impedância é um controlador de interação comumente implementado em tarefas de con...

This papers studies the use of robots in the green machining of ceramics, specifically, the machining of high alumina porcelain insulators. The green state has very low strength and high brittleness where the forces applied during machining can generate and/or develop defects in the part that will reduce their properties after sintering. This work...

Objective: This study analyzed the loosening of the titanium screw of two different abutment implant: titanium and zirconia. Observing the changes of the reverse torque, that result in the loss of the preload, and consequent the titanium screws loosening. Method: 20 abutment of two different materials were divided into 2 groups: Group 1: titanium...