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Lorenzo Moriello - IEEE Xplore Author Profile
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Lorenzo Moriello

Also published under: L. Moriello

Publications
14
Citations
201
Publications by Year
20142020
Co-Authors:
Show All Co-Authors (17)
Image of author Lorenzo Moriello

Lorenzo Moriello

Also published under: L. Moriello

Affiliation

Department of Electrical
Electronic and Information Engineering “Guglielmo Marconi
”, University of Bologna, Bologna, Italy

Publication Topics

Biography

Lorenzo Moriello received the Ph.D. in automation and operational research from the University of Bologna, Bologna, Italy, in 2016.,He is currently a Research Fellow at the University of Bologna. His research interests include design and control of robotic hands, development of optoelectronic sensors, and design of highly integrated electronic system and the motion control of robotic manipulators.(Based on document published on 7 September 2017).
Publications
14
Citations
201
Publications by Year
20142020
Co-Authors:
Show All Co-Authors (17)
Author's Published Works

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Improving the Accuracy of Industrial Robots via Iterative Reference Trajectory Modification

Luigi Biagiotti;Lorenzo Moriello;Claudio Melchiorri

IEEE Transactions on Control Systems Technology
Year: 2020 | Volume: 28, Issue: 3 | Journal Article |
Cited by: Papers (15)
In this paper, a novel repetitive control (RC) scheme is presented and discussed. The general framework is the control of repetitive tasks of robotic systems or, more in general, of automatic machines. The key idea of the proposed scheme consists in modifying the reference trajectory provided to the plant in order to compensate for external loads or unmodeled dynamics that cyclically affect it. By...Show More

Improving the Accuracy of Industrial Robots via Iterative Reference Trajectory Modification

Luigi Biagiotti;Lorenzo Moriello;Claudio Melchiorri

Year: 2020 | Volume: 28, Issue: 3 | Journal Article |

Damped Harmonic Smoother for Trajectory Planning and Vibration Suppression

Luigi Biagiotti;Claudio Melchiorri;Lorenzo Moriello

IEEE Transactions on Control Systems Technology
Year: 2020 | Volume: 28, Issue: 2 | Journal Article |
Cited by: Papers (6)
In this brief, a novel filter for online trajectory generation is presented. The filter can be categorized as an input smoother since it acts on the input signal by increasing its continuity level. When fed with simple signals, as, e.g., a step input, it behaves like a trajectory generator that produces harmonic motions. Moreover, it can be combined with other filters, and in particular, with smoo...Show More

Damped Harmonic Smoother for Trajectory Planning and Vibration Suppression

Luigi Biagiotti;Claudio Melchiorri;Lorenzo Moriello

Year: 2020 | Volume: 28, Issue: 2 | Journal Article |

Toward the Next Generation of Robotic Waiters

Lorenzo Moriello;Davide Chiaravalli;Luigi Biagiotti;Claudio Melchiorri

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2018 | Conference Paper |
The gap between human waiters and state-of-the-art robot systems that try to serve something to drink is often embarrassing, with the former able to manipulate glasses and trays or glasses on trays with incredible dexterity and the latter that move at incredible slowness. In this video, we want to show that robots can do it better by moving a bottle or a tankard full of beer that are simply placed...Show More

Toward the Next Generation of Robotic Waiters

Lorenzo Moriello;Davide Chiaravalli;Luigi Biagiotti;Claudio Melchiorri

Year: 2018 | Conference Paper |

A Plug-In Feed-Forward Control for Sloshing Suppression in Robotic Teleoperation Tasks

Luigi Biagiotti;Davide Chiaravalli;Lorenzo Moriello;Claudio Melchiorri

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2018 | Conference Paper |
Cited by: Papers (12)
In this paper, the problem of suppressing sloshing dynamics in liquid handling robotic systems has been faced by designing a dynamic filter that starting from the desired motion of the liquid container calculates the complete position/orientation trajectory for the robot end-effector. Specifically, a design philosophy mixing a filtering technique that suppresses the frequency contributions of the ...Show More

A Plug-In Feed-Forward Control for Sloshing Suppression in Robotic Teleoperation Tasks

Luigi Biagiotti;Davide Chiaravalli;Lorenzo Moriello;Claudio Melchiorri

Year: 2018 | Conference Paper |

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Enrico Simetti;Francesco Wanderlingh;Sandro Torelli;Marco Bibuli;Angelo Odetti;Gabriele Bruzzone;Dario Lodi Rizzini;Jacopo Aleotti;Gianluca Palli;Lorenzo Moriello;Umberto Scarcia

IEEE Journal of Oceanic Engineering
Year: 2018 | Volume: 43, Issue: 3 | Journal Article |
Cited by: Papers (57)
Autonomous underwater vehicles are frequently used for survey missions and monitoring tasks, however, manipulation and intervention tasks are still largely performed with a human in the loop. Employing autonomous vehicles for these tasks has received a growing interest in the last ten years, and few pioneering projects have been funded on this topic. Among these projects, the Italian MARIS project...Show More

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Enrico Simetti;Francesco Wanderlingh;Sandro Torelli;Marco Bibuli;Angelo Odetti;Gabriele Bruzzone;Dario Lodi Rizzini;Jacopo Aleotti;Gianluca Palli;Lorenzo Moriello;Umberto Scarcia

Year: 2018 | Volume: 43, Issue: 3 | Journal Article |

Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing

Lorenzo Moriello;Luigi Biagiotti;Claudio Melchiorri;Andrea Paoli

2017 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2017 | Conference Paper |
Cited by: Papers (14)
This paper presents a feed-forward approach to reduce sloshing dynamics in liquid handling robotic systems. According to our solution, the dynamics of a liquid into an open vessel manipulated by a robot can be described by means of a spherical pendulum mechanical model. By doing this, the sloshing problem can be addressed as a vibration suppression problem for a second order system. More in detail...Show More

Control of liquid handling robotic systems: A feed-forward approach to suppress sloshing

Lorenzo Moriello;Luigi Biagiotti;Claudio Melchiorri;Andrea Paoli

Year: 2017 | Conference Paper |

Feedforward control of Variable Stiffness Joints robots for vibrations suppression

Luigi Biagiotti;Lorenzo Moriello;Claudio Melchiorri

2017 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2017 | Conference Paper |
This paper presents a new feedforward controller based on a continuous-time finite impulse response filter, designed to minimize the vibrations that usually affect robot manipulators with elastic joints. In particular, Variable Stiffness Joints (VSJ) robots are considered, since they are usually characterized by a very low level of damping which makes the problem of the oscillations quite importan...Show More

Feedforward control of Variable Stiffness Joints robots for vibrations suppression

Luigi Biagiotti;Lorenzo Moriello;Claudio Melchiorri

Year: 2017 | Conference Paper |

Optimal Trajectories for Vibration Reduction Based on Exponential Filters

Luigi Biagiotti;Claudio Melchiorri;Lorenzo Moriello

IEEE Transactions on Control Systems Technology
Year: 2016 | Volume: 24, Issue: 2 | Journal Article |
Cited by: Papers (21)
In this paper, a new type of trajectory, based on an exponential jerk, is presented along with filters for their online generation. The goal is to generalize constant jerk trajectories, widely used in industrial applications, in order to reduce vibrations of motion systems. As a matter of fact, constant jerk trajectories do not assure a complete vibration suppression when the damping of the resona...Show More

Optimal Trajectories for Vibration Reduction Based on Exponential Filters

Luigi Biagiotti;Claudio Melchiorri;Lorenzo Moriello

Year: 2016 | Volume: 24, Issue: 2 | Journal Article |

Modeling and identification of a variable stiffness joint based on twisted string actuators

G. Palli;M. Hosseini;L. Moriello;C. Melchiorri

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2015 | Conference Paper |
Cited by: Papers (8)
In this paper, the implementation of a variable stiffness joint actuated by a couple of twisted string actuators in antagonistic configuration is presented. The twisted string actuation system is particularly suitable for very compact and light-weight robotic devices, like artificial limbs and exoskeletons, since it renders a very low apparent inertia at the load side, allowing the implementation ...Show More

Modeling and identification of a variable stiffness joint based on twisted string actuators

G. Palli;M. Hosseini;L. Moriello;C. Melchiorri

Year: 2015 | Conference Paper |

A repetitive control scheme for industrial robots based on b-spline trajectories

Luigi Biagiotti;Lorenzo Moriello;Claudio Melchiorri

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2015 | Conference Paper |
Cited by: Papers (8)
In this paper, a novel repetitive control scheme is presented and discussed. The general framework is the control of repetitive tasks of robotic systems or, more in general, of automatic machines. The key idea of the proposed scheme consists in modifying the reference trajectory provided to the plant in order to compensate for external loads or unmodelled dynamics that cyclically affect it. By exp...Show More

A repetitive control scheme for industrial robots based on b-spline trajectories

Luigi Biagiotti;Lorenzo Moriello;Claudio Melchiorri

Year: 2015 | Conference Paper |

On the bandwidth of 6-axis force/torque sensors for underwater applications

G. Palli;L. Moriello;C. Melchiorri

OCEANS 2015 - Genova
Year: 2015 | Conference Paper |
Cited by: Papers (3)
The effect of the rubber sealing on the bandwidth of an optoelectronic force/torque sensor for underwater robotic applications is investigated in this paper. If compared to commercial F/T sensors, such as the ones for industrial applications, the sensor here described is designed in such a way to present a considerable compliance to deal with uncertainties both in the object shape and in the envir...Show More

On the bandwidth of 6-axis force/torque sensors for underwater applications

G. Palli;L. Moriello;C. Melchiorri

Year: 2015 | Conference Paper |

Feedback linearization of variable stiffness joints based on twisted string actuators

G. Palli;L. Pan;M. Hosseini;L. Moriello;C. Melchiorri

2015 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2015 | Conference Paper |
Cited by: Papers (14)
In this paper, an ongoing work for the implementation of a variable stiffness joint actuated by a couple of twisted string actuators in antagonistic configuration is reported. The twisted string actuation system is particularly suitable for very compact and light-weight robotic devices, like artificial limbs, exoskeletons and robotic hands, since it renders a very low apparent inertia at the load ...Show More

Feedback linearization of variable stiffness joints based on twisted string actuators

G. Palli;L. Pan;M. Hosseini;L. Moriello;C. Melchiorri

Year: 2015 | Conference Paper |

A new force/torque sensor for robotic applications based on optoelectronic components

C. Melchiorri;L. Moriello;G. Palli;U. Scarcia

2014 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2014 | Conference Paper |
Cited by: Papers (12)
In this paper, a novel force/torque sensor is presented. The sensor is based on optoelectronic components and therefore its design is relatively simple and reliable. The sensor design make it suitable for the integration in different robotic systems, such as e.g. the fingers of robotic hands. The basic principle and the design of the sensor are described in this paper, along with a specific protot...Show More

A new force/torque sensor for robotic applications based on optoelectronic components

C. Melchiorri;L. Moriello;G. Palli;U. Scarcia

Year: 2014 | Conference Paper |

A three-fingered cable-driven gripper for underwater applications

J. R. Bemfica;C. Melchiorri;L. Moriello;G. Palli;U. Scarcia

2014 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2014 | Conference Paper |
Cited by: Papers (31)
In this paper, the design and experimental evaluation of a cable driven robotic gripper for underwater applications is presented. The gripper has three fingers and is characterised by a large workspace if compared with other similar devices reported in literature. Its kinematic configuration allows to execute both parallel and precision grasps on objects with very different dimensions. The gripper...Show More

A three-fingered cable-driven gripper for underwater applications

J. R. Bemfica;C. Melchiorri;L. Moriello;G. Palli;U. Scarcia

Year: 2014 | Conference Paper |

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