Lorenzo Scalera

Lorenzo Scalera
University of Udine | UNIUD · Polytechnic Department of Engineering and Architecture

PhD Industrial Engineering

About

75
Publications
48,589
Reads
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508
Citations
Introduction
I currently work as an Assistant Professor of Mechanics Applied to Machines at the Polytechnic Department of Engineering and Architecture of the University of Udine (Italy). My research interests are in the fields of dynamic modeling of robotic systems, trajectory planning, collaborative robotics, human-machine interaction and vibration mechanics.
Additional affiliations
May 2020 - present
University of Udine
Position
  • Professor (Assistant)
November 2019 - May 2020
University of Udine
Position
  • Research Associate
August 2019 - September 2019
Chiang Mai University
Position
  • Fellow
Education
September 2013 - October 2015
University of Trieste
Field of study
  • Mechanical Engineering
September 2009 - December 2012
University of Trieste
Field of study
  • Industrial Engineering

Publications

Publications (75)
Article
Full-text available
Industrial collaborative robotics is promising for manufacturing activities where the presence of a robot alongside a human operator can improve operator’s working conditions, flexibility, and productivity. A collaborative robotic application has to guarantee not only safety of the human operator, but also fluency in the collaboration, as well as p...
Article
In modern times, mechatronic and robotic systems are developing at a faster pace than in the past [...]
Article
Full-text available
In this paper, we present a mapping system based on an autonomous mobile robot equipped with a LiDAR device and a camera, that can deal with the presence of people. Thanks to a deep learning approach, the position of humans is identified and a new surveying path is planned that brings the robot to scan occluded areas, so as to obtain a complete poi...
Article
Full-text available
Nowadays, 3D printers based on Cartesian kinematics are becoming extremely popular due to their reliability and inexpensiveness. In the early stages of the 3D printer design, once it is chosen to use the Cartesian kinematics, it is always necessary to select relative positions of axes and linear drives (prismatic joints), which would be optimal for...
Article
Full-text available
In this paper, the implementation of a robotic painting system using a sponge and the watercolor painting technique is presented. A collection of tools for calibration and sponge support operations was designed and built. A contour-filling algorithm was developed, which defines the sponge positions and orientations in order to color the contour of...
Chapter
Efficient agriculture in a hazardous environment is an essential factor for space settlement. At the same time, transporting resources for settlement is very expensive and, to a certain extent, impracticable. It is therefore necessary to find techniques and tools to exploit resources on site. The aim of the project presented in this paper consisted...
Article
Full-text available
Eye tracking is a sensing technology that allows a computer to monitor eye movements and determine where a subject is looking. In this paper, we evaluate the performance of a robotic architecture that enables to control a robot arm through eye tracking and to draw using the motion of the eyes only. The usability of the system is assessed by a drawi...
Chapter
Full-text available
Make cities and human settlements inclusive, safe, resilient and sustainable is one of the Sustainable Development Goals drawn by the United Nations. To support renovation projects, a first essential step is to gain an updated and precise knowledge of indoor and outdoor public spaces and urban areas, which requires accurate and fast mapping systems...
Preprint
Full-text available
We present a theoretical framework for new structural metamaterials we refer to as liquid structures: a topology of bistable mechanisms made up of a high number of cells that are sub-mechanisms composed of pseudo-rigid links and joints. The name liquid structures comes from the similarities they present with the kinematics of the constant flow of i...
Conference Paper
We propose a safety control approach based on the online optimal scaling of the size of bounding volumes used as dynamic safety zones for collaborative robotics. Intersection tests between bounding volumes surrounding robot and human allow the safety controller to identify possible collisions. Our proposed approach optimizes online smooth stop traj...
Article
Full-text available
Nowadays, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia[...]
Article
Full-text available
In this paper, authors present a novel architecture for controlling an industrial robot via an eye tracking interface for artistic purposes. Humans and robots interact thanks to an acquisition system based on an eye tracker device that allows the user to control the motion of a robotic manipulator with his gaze. The feasibility of the robotic syste...
Article
Full-text available
Artistic robotic painting implies creating a picture on canvas according to a brushstroke map preliminarily computed from a source image. To make the painting look closer to the human artwork, the source image should be preprocessed to render the effects usually created by artists. In this paper, we consider three preprocessing effects: aerial pers...
Article
In this paper a novel approach for sustainable 3D printing with a Linear Delta Robot equipped with elastic elements is presented and experimentally validated. Energy saving is achieved thanks to the introduction and optimization of linear springs that are mounted on the robot with different configurations: in parallel to the prismatic joints, or di...
Article
In this paper a task-dependent energy analysis of robotic manipulators is presented. The proposed approach includes a novel performance index, which relates the energetic consumption of a robotic manipulator to its inertia ellipsoid. To validate the method, the dynamic and electro-mechanic models of a 3-DOF SCARA robot are implemented and the influ...
Article
Full-text available
In this paper a novel nonlinear controller for position and vibration control of flexible-link mechanisms is introduced. The proposed control strategy is model-free and does not require the measurement of the elastic deformation of the mechanism, since the control relies only on the knowledge of the angular position of the actuator and on its time...
Chapter
Full-text available
In this paper we present the preliminary analysis and results of a novel robotic system that allows a user to paint with eyes, using an eye tracker device and a collaborative robot. Eye tracking is a sensing technology that allows a computer to detect where a person is looking (point of gaze). This technology is used to control the motion of a coll...
Chapter
Full-text available
This paper presents the optimization of the task placement to achieve energy efficiency in a parallel manipulator. The proposed approach is based on the parametrization of the task whose position and orientation are varied within the workspace of the robot. The energy consumed by the actuators is considered as the cost function for the optimization...
Article
We present a theoretical framework for new structural metamaterials we refer to as liquid structures: a topology of bistable mechanisms made up of a high number of cells that are sub-mechanisms composed of pseudo-rigid links and joints. The name liquid structures comes from the similarities they present with the kinematics of the constant flow of i...
Article
Full-text available
Soft-landing on planetary surfaces is the main challenge in most space exploration missions. In this work, the dynamic modeling and simulation of a three-legged robotic lander based on variable radius drums are presented. In particular, the proposed robotic system consists of a non-reversible mechanism that allows a landing object to constant decel...
Article
Full-text available
Human–robot interaction in board games is a rapidly developing field of robotics. This paper presents a robot capable of playing Russian checkers designed for entertaining, training, and research purposes. Its control program is based on a novel unsupervised self-learning algorithm inspired by AlphaZero and represents the first successful attempt o...
Conference Paper
Full-text available
We present recent developments regarding the application of a collaborative robot for artistic painting. Three different scenarios of robotic painting are illustrated: the watercolor technique, the palette-knife technique, and the use of eye-tracking technology for interacting with the robot. Experimental results show the capabilities of the roboti...
Article
Full-text available
In this paper, we present an approach for the minimum-energy trajectory planning in industrial robotic systems. The method is based on the dynamic and electro-mechanical modeling of one-degree-of-freedom systems and the derivation of the energy formulation for standard point-to-point trajectories, as, for instance, trapezoidal and cycloidal speed p...
Chapter
Full-text available
In this paper an analytical model and experimental results for minimum-energy trajectories applied to robotic axes are presented. The dynamic and electro-mechanical models of a linear axis are implemented and applied for the planning of optimal point-to-point trajectories, using trapezoidal and cycloidal motion profiles. A challenging (but realisti...
Article
In this paper, a novel approach for the application of dynamic safety zones based on the requirements of safety standards for collaborative robotics is presented. The aim of the proposed method is to verify the possibility of collision between robot and operator, by performing online intersection tests between bounding volumes surrounding the robot...
Data
This Special Issue of the journal Applied Sciences encompasses the modeling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving the performance and the design of such systems. We invite contributions to this Special Issue on topics including but not limited to the following: Modelling of mechatronic and...
Article
Full-text available
This paper presents a novel robotic painting system able to create artworks using the palette knife technique. The implementation of this method with a robotic system is particularly challenging, since the robot needs to precisely manipulate the palette knife to pick up and release the color on the canvas. The painting system comprises a 6-DOF coll...
Article
Full-text available
Enhancing energy efficiency is one of the main challenges of today’s industrial robotics and manufacturing technology. In this paper a task-related analysis of the energetic performance of a 4-DOF industrial parallel robot is presented, and the optimal location of a predefined task with respect to the robot workspace is investigated. An optimal pos...
Chapter
Full-text available
In this paper a preliminary analysis of the energetic performance of an industrial manipulator is presented. In particular, the paper investigates the effects of the trajectory planning on the overall energy consumption of the manipulator in a pick & place task, focusing also on the location of the path within the workspace. An electro-mechanical m...
Conference Paper
In this paper, an innovative trajectory planning algorithm, aimed at limiting the accelerations of joints in robots with non-spherical wrist, is presented. Due to the presence of a non-spherical wrist, there is no closed-form solution of the inverse kinematics of the robot. Thus, in order to limit the accelerations of the joints, as well as to obta...
Article
Full-text available
Energy efficiency is a relevant and challenging topic in the robotic and mechatronic fields. One approach that is investigated to reduce the actuator effort, especially when cyclical and highspeed operations are considered, is the introduction of compliant elements in parallel with the motor shafts. During the robot motion these elements allow for...
Article
Full-text available
Virtual assembly is an essential method to increase efficiency and to identify potential issues of the assembly process in several manufacturing fields, as for instance robotized assembly. The paper presents a novel procedure based on Affine Procrustes Analysis for the Virtual Trial Assembly (VTA) of large-size elements. This approach to virtual as...
Article
Full-text available
This paper presents the design and the experimental validation of a novel 3-degree-of-freedom (DOF) pendulum-like cable-driven robot capable of executing point-to-point motions by leveraging partial feedback linearization control and on-line trajectory planning based on adaptive frequency oscillators (AFOs). Unlike most cable-suspended parallel rob...
Article
Full-text available
In this paper, we present a novel robotic system that produces watercolour paintings by means of a 6-degree-of-freedom collaborative robot. After an analysis of traditional watercolour, different non-photorealistic rendering techniques are applied in order to elaborate digital images into artworks. Several algorithms, aimed at processing both the b...
Article
Full-text available
Energy saving in robotic and mechatronic systems is becoming an evermore important topic in both industry and academia. One strategy to reduce the energy consumption, especially for cyclic tasks, is exploiting natural motion. We define natural motion as the system response caused by the conversion of potential elastic energy into kinetic energy. Th...
Poster
Full-text available
To cite this paper: Lorenzo Scalera, Stefano Seriani, Paolo Gallina, Massimiliano Di Luca, and Alessandro Gasparetto. An experimental setup to test dual-joystick directional responses to vibrotactile stimuli. IEEE Transactions on Haptics, 11(3):378–387, 2018.
Article
Full-text available
In this paper, we present the modeling and validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements. The robotic system is composed of two modules, the master and the follower carts, which are arranged in a sandwich configuration, with the surface to climb interposed between...
Research
Full-text available
Busker Robot is a robotic installation capable of reproducing watercolor artworks, starting from a digital image, which is processed through the application of algorithms for artistic rendering. The system is composed of a 6-DOF robotic arm equipped for brush painting purposes. The random effects given by the rendering techniques, the properties of...
Article
Full-text available
In this paper, we present non-photorealistic rendering techniques that are applied together with a painting robot to realize artworks with original styles. Our robotic painting system is called Busker Robot and it has been considered of interest in recent art fairs and international exhibitions. It consists of a six degree-of-freedom collaborative...
Chapter
Full-text available
This paper presents a new solar arrays deployment mechanism for space applications. It consists of a modular kinematic structure, which is operated by a single cable (1 DoF). Compared to traditional methods, this mechanism has the advantage of being reversible in the movement. Kinematic analysis of the mechanism is carried out in this work, as well...
Chapter
Full-text available
In this paper we present Busker Robot, an innovative robotic painting system for rendering digital images into watercolour artworks. The installation is composed of a 6-degrees of freedom collaborative robot and a series of image processing and path planning algorithms. These non-photorealistic techniques elaborate a digital image into a sequence o...
Chapter
Full-text available
This paper is devoted to the design and simulation of a rover equipped with 4 preloaded structure legs. Space exploration vehicles (rovers) are employed for moving sensors, transporting planet samples and manipulating small modules. In order to perform such tasks with high accuracy, high mechanical stiffness frames are required. At the same time, a...
Chapter
Full-text available
This paper proposes an innovative trajectory planning algorithm aimed at limiting the speed and accelerations for robots for spray painting. The algorithm can be applied to robots that, due to their kinematic structure, do not offer a closed-form solution to the inverse kinematic problem. The trajectory planning problem is cast for a predefined pat...
Chapter
Full-text available
This paper is devoted to climbing robots that adhere to the wall through permanent magnetic elements. If the surface on which they adhere is not ferromagnetic, it is necessary for the system to be composed of two subsystems (master and follower carts), arranged in a sandwich configuration, with the surface to climb interposed between the two. Howev...
Chapter
Full-text available
In this paper, the early decades of the history of industrial robots (from the 1950’s to the beginning of the 1990’s, approximately) will be described. The history of industrial robotics can be considered starting with Unimate, the first industrial robot designed and built by Devol and Engelberger. The subsequent evolutions of industrial robotics a...
Article
Full-text available
Industrial robotics is a branch of robotics that gained paramount importance in the last century. The presence of robots totally revolutionized the industrial environment in just a few decades. In this paper, a brief history of industrial robotics in the 20th century will be presented, and a proposal for classifying the evolution of industrial robo...
Article
Full-text available
In this paper, a novel method for planning spray painting trajectories for industrial robots is presented. The proposed method takes as input an arbitrary parametric description of the end-effector path in the operative space. The method is aimed at providing feasible motion profiles without resorting to optimization routines and without the need f...
Article
Full-text available
A core issue in collaborative robotics is that of impact mitigation, especially when collisions happen with operators. Passively compliant structures can be used as the frame of the cobot, although, usually, they are implemented by means of a single DoF. However, n-DoF preloaded structures offer a number of advantages, in terms of flexibility in de...
Chapter
Full-text available
Two joystick-based teleoperation is a common method for controlling a remote machine or a robot. Their use could be counter-intuitive and could require a heavy mental workload. The goal of this paper is to investigate whether vibrotactile prompts could be used to trigger dual-joystick responses quickly and intuitively, so to possibly employ them fo...
Conference Paper
Full-text available
This research is focused on developing a robotic painting system for artistic and graphic applications by means of an anthropomorphic robot equipped with an airbrush. Firstly, we introduce a mathematical colour spray model, based on a radially symmetric Gaussian distribution of colour intensity within the spray cone. Then, we present an experimenta...
Conference Paper
Full-text available
Two joystick-based teleoperation is a common method for controlling a remote machine or a robot. Their use could be counter-intuitive and could require a heavy mental workload. The goal of this paper is to investigate whether vibrotactile prompts could be used to trigger dual-joystick responses quickly and intuitively, so to possibly employ them fo...
Article
Full-text available
The industrial demand for high-performance and low energy consume has highlighted the need to develop lightweight manipulators and robots. However, their design and control result more difficult with respect to rigid-link robotic systems mainly due to the structural flexibility of the arms. To this end, the Equivalent Rigid-Link System (ERLS) appro...
Poster
Full-text available
Two joystick-based teleoperation is a common method for controlling a remote machine or a robot. Their use could be counter-intuitive and could require a heavy mental workload. The goal of this paper is to investigate whether vibrotactile prompts could be used to trigger dual-joystick responses quickly and intuitively, so to possibly employ them fo...