"Omnia mutantur, nihil interit."
(Ovidio).

Publications


PDF are available at the following link.

On International Journals:

  1. F. Ferraguti, R. Villa, C. Talignani Landi, A.M. Zanchettin, P. Rocco, C. Secchi – "A Unified Architecture for Physical and Ergonomic Human-Robot Collaboration", Robotica, accepted.

  2. A.M. Zanchettin, P. Rocco, S. Chiappa, R. Rossi – "Towards an optimal avoidance strategy for collaborative robots", Robotics and Computer Integrated Manufacturing, vol. 59, pp. 47-55, October 2019.

  3. M. Parigi Polverini, A.M. Zanchettin, P. Rocco – "A Constraint-Based Programming Approach for Robotic Assembly Skills Implementation", Robotics and Computer Integrated Manufacturing, vol. 59, pp. 69-81, October 2019.

  4. A.M. Zanchettin, A. Casalino, L. Piroddi, P. Rocco – "Prediction of human activity patterns for human-robot collaborative assembly tasks", IEEE Transactions on Industrial Informatics, vol. 15, issue 7, pp. 3934-3942, July 2019.

  5. M. Ragaglia, A.M. Zanchettin, P. Rocco – "Trajectory generation algorithm for safe Human-Robot Collaboration based on multiple depth sensor measurements", IFAC Mechatronics, vol. 55, pp. 267-281, November 2018.

  6. A. Casalino, C. Messeri, M. Pozzi, A.M. Zanchettin, P. Rocco, D. Prattichizzo – "Operator awareness in human-robot collaboration through wearable vibrotactile feedback", IEEE Robotics and Automation Letters, vol. 3, issue 4, pp. 4289 - 4296, October 2018, also presented at IROS 2018, Madrid, Spain.

  7. A. Ajoudani, A.M. Zanchettin, S. Ivaldi, A. Albu-Schaeffer, K. Kosuge, O. Khatib – "Progress and prospects of the human–robot collaboration", Autonomous Robots, vol. 42, issue 5, pp. 957-975, June 2018.

  8. D. Nicolis, M. Palumbo, A.M. Zanchettin, P. Rocco – "Occlusion-free Visual Servoing for the Shared Autonomy Teleoperation of Dual-Arm Robots", IEEE Robotics and Automation Letters, vol. 3, issue 2, pp. 796-803, April 2018, also presented during ICRA 2018, May 2018, Brisbane, Australia.

  9. G. Buizza Avanzini, A.M. Zanchettin, P. Rocco – "Constrained Model Predictive Control for Mobile Robotic Manipulators", Robotica, vol. 36, issue 1, pp. 19-38, January 2018.

  10. M. Parigi Polverini, A.M. Zanchettin, P. Rocco – "A Computationally Efficient Safety Assessment for Collaborative Robotics Applications", Robotics and Computer Integrated Manufacturing, vol. 46, pp. 25-37, August 2017.

  11. M. Parigi Polverini, D. Nicolis, A.M. Zanchettin, P. Rocco – "Implicit Robot Force Control based on Set Invariance", IEEE Robotics and Automation Letters, vol. 2, issue 3, pp. 1288-1295, July 2017, also presented during ICRA 2017, May 2017, Singapore.

  12. A.M. Zanchettin, P. Rocco – "Motion planning for robotic manipulators using robust constrained control", Control Engineering Practice, vol. 59, pp. 127-136, February 2017.

  13. M. Ragaglia, A.M. Zanchettin, L. Bascetta, P. Rocco – "Accurate sensorless lead-through programming for lightweight robots in structured environments", Robotics and Computer Integrated Manufacturing, vol. 39, pp. 9-21, June 2016.

  14. A.M. Zanchettin, N.M. Ceriani, P. Rocco, H. Ding and B. Matthias – "Safety in human-robot collaborative manufacturing environments: metrics and control", IEEE Transactions on Automation Science and Engineering, vol. 13, issue 2, pp. 882-893, April 2016.

  15. D. Nicolis, A.M. Zanchettin, P. Rocco - "Constraint-based and sensorless force control with an application on a lightweight dual-arm robot", IEEE Robotics and Automation Letters, vol. 1, issue 1, pp. 340-347, January 2016, also presented during ICRA 2016, Stockholm, Sweden.

  16. N.M. Ceriani, A.M. Zanchettin, P. Rocco, A. Stolt, A. Robertsson – "Reactive task adaptation based on hierarchical constraints classification for safe industrial robots", IEEE/ASME Transactions on Mechatronics, vol. 20, issue 6, pp. 2935-2949, December 2015.

  17. A.M. Zanchettin, B. Lacevic, P. Rocco - "Passivity-based control of robotic manipulators for safe cooperation with humans", International Journal of Control, International Journal of Control, vol. 88, issue 2, pp. 429-439, 2015.

  18. G. Buizza Avanzini, N.M. Ceriani, A.M. Zanchettin, P. Rocco, L. Bascetta - "Safety control of industrial robots based on a distributed distance sensor", IEEE Transactions on Control System Technology, volume 22, issue 6, pp. 2127-2140, November 2014.

  19. A.M. Zanchettin, L. Bascetta, P. Rocco - "Achieving Humanlike Motion: Resolving Redundancy for Anthropomorphic Industrial Manipulators", IEEE Robotics and Automation Magazine, volume 20, issue 4, pp. 131-138, December 2013, I-RAS Young Author Best Paper Award 2014.

  20. A.M. Zanchettin, L. Bascetta, P. Rocco - "Acceptability of robotic manipulators in shared working environments through human-like redundancy resolution", Applied Ergonomics, volume 44, issue 6, pp. 982–989, November 2013.

  21. B. Lacevic, P. Rocco, A. M. Zanchettin - "Safety assessment and control of robotic manipulators using danger field", IEEE Transactions on Robotics, volume 29, issue 5, pp. 1257-1270, October 2013.

  22. A.M. Zanchettin, A. Calloni, M. Lovera - "Robust magnetic attitude control of satellites", ASME/IEEE Transactions on Mechatronics, volume 18, issue 4, pp. 1259-1268, August 2013.

  23. L. Bascetta, P. Rocco, A.M. Zanchettin, G. Magnani - "Velocity control of a washing machine: a mechatronic approach", IFAC Mechatronics, volume 22, issue 6, pp. 778–787, September 2012.

  24. A.M. Zanchettin, P. Rocco - "A general user-oriented framework for holonomic redundancy resolution in robotic manipulators using task augmentation", IEEE Transactions on Robotics, volume 28, issue 2, pp. 514-521, April 2012.

  25. L. Bascetta, G. Magnani, P. Rocco, A.M. Zanchettin - "Performance limitations in Field Oriented Control for asynchronous machines with low resolution position sensing", IEEE Transactions on Control System Technology, volume 18, issue 3, pp. 559-573, May 2010.

In Chapters of International Books:

  1. G. Buizza Avanzini, A.M. Zanchettin, P. Rocco - "Reactive Constrained Model Predictive Control for Redundant Mobile Manipulators", in E. Menegatti et al. (eds.), Intelligent Autonomous Systems 13, Advances in Intelligent Systems and Computing, Springer 2016.

  2. N.M. Ceriani, A.M. Zanchettin, P. Rocco - "Collision Avoidance with Task Constraints and Kinematic Limitations for Dual Arm Robots", in E. Menegatti et al. (eds.), Intelligent Autonomous Systems 13, Advances in Intelligent Systems and Computing, Springer 2016.

On Proceedings of International Conferences:

  1. A. Casalino, E. Mazzocca, M.G. Di Giorgio, A.M. Zanchettin, P. Rocco – "Task scheduling for human-robot collaboration with uncertain duration of tasks: a fuzzy approach", International Conference on Control, Mechatronics and Automation, ICCMA 2019, Delft (Netherlands), November 6th-8th, 2019.

  2. A.M. Zanchettin, E. Lotano, P. Rocco - "Collaborative Robot Assistant for the Ergonomic Manipulation of Cumbersome Objects", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, November 4th-8th, 2019.

  3. A. Casalino, A. Brameri, A.M. Zanchettin, P. Rocco - "Adaptive swept volumes generation for human-robot coexistence using Gaussian Processes", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, November 4th-8th, 2019.

  4. A. Casalino, A.M. Zanchettin, P. Rocco - "MT-RRT: a general purpose multithreading library for path planning", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, November 4th-8th, 2019.

  5. R. Maderna, P. Lanfredini, A.M. Zanchettin, P. Rocco - "Real-time monitoring of human task advancement", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, November 4th-8th, 2019.

  6. M. Pencelli, R. Villa, A. Argiolas, G. Ferretti, M. Niccolini, M. Ragaglia, P. Rocco, A.M. Zanchettin - "Accurate Position Control for Hydraulic Servomechanisms", International Symposium on Automation and Robotics in Construction, ISARC 2019, May 21st - 24th, 2019.

  7. M. Pencelli, R. Villa, A. Argiolas, M. Niccolini, M. Ragaglia, P. Rocco, A.M. Zanchettin - "On the estimation of resonance frequencies of hydraulically actuated systems", International Symposium on Automation and Robotics in Construction, ISARC 2019, May 21st - 24th, 2019.

  8. A. Casalino, D. Bazzi, A.M. Zanchettin, P. Rocco - "Optimal Proactive Path Planning for Collaborative Robots in Industrial Contexts", IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal (Canada), May 20th – 24th, 2019.

  9. M. Pencelli, R. Villa, A. Argiolas, G. Ferretti, M. Niccolini, M. Ragaglia, P. Rocco and A.M. Zanchettin - "Accurate Dynamic Modelling of Hydraulic Servomechanisms", Design, Automation and Test in Europe, DATE 2019, Florence (Italy), March 25th - 29th, 2019.

  10. A. Casalino, S. Guzman, A.M. Zanchettin, P. Rocco – "Human pose estimation in presence of occlusion using depth camera sensors, in human-robot coexistence scenarios", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid (Spain), October 1st-5th, 2018.

  11. D. Nicolis, A.M. Zanchettin, P. Rocco – "Human Intention Estimation based on Neural Networks for Enhanced Collaboration with Robots", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid (Spain), October 1st-5th, 2018.

  12. A.M. Zanchettin, S. Formentin, R. Loddo, R. Paparella – "Direct Data-Driven Control of Cavity Tuners in Particle Accelerators", SYSID 2018, 18th IFAC Symposium on System Identification, Stockholm (Sweden), July 9th-11th, 2018.

  13. A. Casalino, F. Cividini, A.M. Zanchettin, L. Piroddi, P. Rocco – "Human-robot collaborative assembly: a use-case application", INCOM 2018, 16th IFAC Symposium on Information Control Problems in Manufacturing, Bergamo (Italy), June 11th - 13th, 2018.

  14. R. Maderna, A. Casalino, A.M. Zanchettin, P. Rocco – "Robotic handling of liquids with spilling avoidance: a constraint-based control approach", IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane (Australia), May 21st - 25th, 2018.

  15. A.M. Zanchettin, P. Rocco - "Probabilistic inference of human arm reaching target for effective human-robot collaboration", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver (Canada), September 24th - 28th, 2017.

  16. M. Parigi Polverini, A.M. Zanchettin, F. Incocciati, P. Rocco - "Robust Constraint-Based Robot Control for Bimanual Cap Rotation", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver (Canada), September 24th - 28th, 2017.

  17. M. Parigi Polverini, D. Nicolis, A.M. Zanchettin, P. Rocco - "Robust Set Invariance for Implicit Robot Force Control in Presence of Contact Model Uncertainty", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver (Canada), September 24th - 28th, 2017.

  18. D. Nicolis, A.M. Zanchettin, P. Rocco - "A Hierarchical Optimization Approach to Robot Teleoperation and Virtual Fixtures Rendering", IFAC World Congress 2017, Toulouse (France), July 9th - 14th 2017.

  19. D. Quarta, M. Pogliani, M. Polino, F. Maggi, A.M. Zanchettin, S. Zanero - "An Experimental Security Analysis of an Industrial Robot Controller", IEEE Symposium on Security and Privacy, San Jose (USA), May 22nd - 24th, 2017.

  20. A. Casalino, A.M. Zanchettin, P. Rocco - "Online planning of optimal trajectories on assigned paths with dynamic constraints for robot manipulators", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon (Korea), September 9th - 14th, 2016.

  21. A.M. Zanchettin, P. Rocco - "Robust constraint-based control of robot manipulators: an application to a visual aided grasping task", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon (Korea), September 9th - 14th, 2016.

  22. M. Parigi Polverini, R. Rossi, L. Bascetta, A.M. Zanchettin, P. Rocco, G. Morandi - "Performance Improvement of Implicit Integral Robot Force Control through Constraint-Based Optimization", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon (Korea), September 9th - 14th, 2016.

  23. M. Parigi Polverini, A.M. Zanchettin, S. Castello, P. Rocco – "Sensorless and constraint based peg-in-hole task execution with a dual-arm robot", IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm (Sweden), May 16th – 21st, 2016.

  24. C. Lamperti, A.M. Zanchettin, P. Rocco – "A redundancy resolution method for an anthropomorphic dual-arm manipulator based on a musculoskeletal criterion", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg (Germany), September 28th – October 2nd, 2015.

  25. G. Buizza Avanzini, A.M. Zanchettin, P. Rocco – "Constraint-based model predictive control for holonomic mobile manipulators", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg (Germany), September 28th – October 2nd, 2015.

  26. R. Rossi, M. Parigi Polverini, A.M. Zanchettin, P. Rocco – "Pre-collision control strategy for human-robot Interaction based on dissipated energy in potential inelastic impacts", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg (Germany), September 28th – October 2nd, 2015, Best Student Paper Award Finalist.

  27. M. Ragaglia, A.M. Zanchettin, P. Rocco – "Safety-aware trajectory scaling for human-robot collaboration with prediction of human occupancy", International Conference on Advanced Robotics, ICAR 2015, Istanbul (Turkey), July 2015, 27th -31st.

  28. A.M. Zanchettin, P. Rocco – "Reactive Motion Planning and Control for Compliant and Constraint-Based Task Execution", IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle (Washington, USA), May 2015, 26th-30th.

  29. M. Parigi Polverini, A.M. Zanchettin, P. Rocco – "Collision Avoidance in Human-Robot Interaction Based on Kinetostatic Safety Field", IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2014, Chicago (Illinois, USA), September 14th-18th.

  30. M. Ragaglia, L. Bascetta, P. Rocco, A.M. Zanchettin - "Integration of perception, control and injury knowledge for safe human-robot interaction”, IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong (China), May/June 2014, 31st-5th.

  31. A.M. Zanchettin, P. Rocco - "Near time-optimal and sensor-based motion planning for robotic manipulators", IEEE Conference on Decision and Control, CDC 2013, Firenze (Italy), December 2013, 10th-13th.

  32. A.M. Zanchettin, P. Rocco - “Path-consistent safety in mixed human-robot collaborative manufacturing environments”, IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2013, Tokyo (Japan), November 2013, 3rd-7th.

  33. N.M. Ceriani, A.M. Zanchettin, P. Rocco, A. Stolt, A. Robertsson - "A constraint-based strategy for task-consistent safe human-robot interaction"", IEEE/RSJ International Conference on Robots and Intelligent Systems, IROS 2013, Tokyo (Japan), November 2013, 3rd-7th.

  34. N.M. Ceriani, G. Buizza Avanzini, A.M. Zanchettin, L. Bascetta, P. Rocco - “Optimal placement of spots in distributed proximity sensors for safe human-robot interaction”, IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe (Germany), May 2013, 6th-10th.

  35. A.M. Zanchettin, B. Lacevic, P. Rocco - "A novel passivity-based control law for safe human-robot coexistence", IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve (Portugal), October 2012, 7th-12th.

  36. A. Barcellini, L. Bascetta, M. Raymo, P. Rocco, A.M. Zanchettin, A. Robertsson - "Integrating an anti-collision system based on laser Time-Of-Flight sensor in an industrial robot controller", IFAC Symposium on Robot Control, SYROCO 2012, Dubrovnik (Croatia), September 2012, 5th-7th.

  37. A. Calloni, A. Corti, A.M. Zanchettin, M. Lovera - "Robust attitude control of spacecraft with magnetic actuators", American Control Conference, ACC 2012, Montreal (Canada), June 2012, 27th-29th, invited paper.

  38. A.M. Zanchettin, P. Rocco - "Dual-arm redundancy resolution based on null-space dynamically-scaled posture optimization", IEEE International Conference on Robotics and Automation, ICRA 2012, St. Paul (Minnesota, USA), May 2012, 14th-18th.

  39. A.M. Zanchettin, M. Lovera - "H_infty attitude control of magnetically actuated satellites", 18th IFAC World Congress, Milano (Italy), August/September 2011, 28th-2nd.

  40. A.M. Zanchettin, P. Rocco - "On the use of functional redundancy in industrial robotic manipulators for optimal spray painting", 18th IFAC World Congress, Milano (Italy), August/September 2011, 28th-2nd.

  41. I. Symeonidis, S. Peldschus, A.M. Zanchettin, P. Rocco, D. Bortot, K. Bengler - "Database of human reach motions in work environment", First International Symposium on Digital Human Modeling, DHM 2011, Lyon (France), June 2011, 14th-16th.

  42. A.M. Zanchettin, P. Rocco, A. Robertsson, R. Johansson - "Exploiting task redundancy in industrial manipulators during drilling operations", IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai (China), May 2011, 9th-13th.

  43. A.M. Zanchettin, P. Rocco, L. Bascetta, I. Symeonidis, S. Peldschus - "Kinematic analysis and synthesis of the human arm motion during a manipulation task", IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai (China), May 2011, 9th-13th.

  44. A.M. Zanchettin, P. Rocco, G. Ferretti - "Numerical issues in integrating holonomic kinematic inversion algorithms for redundant manipulators", 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010, Bologna (Italy), September 2010, 1st-3rd.

  45. A.M. Zanchettin, P. Rocco, L. Bascetta, I. Symeonidis, S. Peldschus - "Kinematic motion analysis of the human arm during a manipulation task", International Symposium on Robotics and German Conference on Robotics, ISR/Robotik 2010, Munich (Germany), June 2010, 7th-9th.

  46. P. Rocco, A.M. Zanchettin - "General parameterization of holonomic kinematic inversion algorithms for redundant manipulators", IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage (Alaska, USA), May 2010, 3rd-8th.

  47. L. Bascetta, G. Magnani, P. Rocco, A.M. Zanchettin - "Design and implementation of the low-level control system of an All-Terrain Mobile Robot", International Conference on Advanced Robotics, ICAR 2009, Munich (Germany), June 2009, 22nd-26th.

  48. G. Magnani, P. Rocco, L. Trevisan, A.M. Zanchettin, A. Rusconi - "Torque control in the joint of a space robotic arm", IEEE International Conference on Mechatronics, ICM 2009, Malaga (Spain), April 2009, 14th-17th.