Blar i USN Open Archive på forfatter "Sanfilippo, Filippo"
-
A comparison between a two feedback control loop and a reinforcement learning algorithm for compliant low-cost series elastic actuators
Sanfilippo, Filippo; Hua, Tuan Minh; Bos, Steven (Chapter, 2020)Highly-compliant elastic actuators have become progressively prominent over the last years for a variety of robotic applications. With remarkable shock tolerance, elastic actuators are appropriate for robots operating in ... -
A Wearable Haptic System for the Health Monitoring of Elderly People in Smart Cities
Sanfilippo, Filippo; Pacchierotti, Claudio (Journal article; Peer reviewed, 2018)A sensor-fusion wearable health-monitoring system with integrated haptic feedback was previously introduced by our research group. The system's components are the following: a chest-worn device with an embedded controller ... -
Bridging the Gap Between Bio-inspired Steering and Locomotion: a Braitenberg Snake Robot
Rañó, Inaki; Gómez, Augusto; Sanfilippo, Filippo (Chapter, 2018)Braitenberg vehicles are simple models of animal motion towards, or away from, a stimulus (light, sound, chemicals, etc). They have been widely used in robotics to implement target reaching and avoidance behaviors based ... -
A robust two-feedback loops position control algorithm for compliant low-cost series elastic actuators
Hua, Tuan; Sanfilippo, Filippo; Helgerud, Erlend (Peer reviewed; Journal article, 2019)Elastic joints are considered to outperform rigid joints in terms of peak dynamics, collision tolerance, robustness, and energy efficiency. Therefore, intrinsically elastic joints have become progressively prominent over ... -
Serpens, a Low- Cost Snake Robot with Series Elastic Torque-Controlled Actuators and a Screw-Less Assembly Mechanism
Sanfilippo, Filippo; Helgerud, Erlend; Stadheim, Per Anders; Aronsen, Sondre Lieblein (Chapter, 2019)Even though a few examples of elastic snake robots exist, they are generally expensive and tailored to custom-made hardware/software components that are not openly available. In this work, Serpens, a newly-designed low-cost, ... -
Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism
Sanfilippo, Filippo; Helgerud, Erlend; Stadheim, Per Anders; Aronsen, Sondre Lieblein (Peer reviewed; Journal article, 2019)Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven ... -
uMemristorToolbox: Open source framework to control memristors in Unity for ternary applications
Bos, Steven; Gundersen, Henning; Sanfilippo, Filippo (Chapter, 2020)This paper presents uMemristorToolbox, a novel open source framework that reads and writes non-volatile ternary states to memristors. The Unity (C#) framework is a port of the open source Java project Memristor-Discovery ...