PRISMA Lab - Intn'l Journal Papers

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Refereed

2024

C. Suulker, T. Mack, G. Distefano, C.H. Chan, K. Zhang, S.M.H. Sadati, L. Mecozzi, S. Sulaiman, M.A. Thaha, F. Ficuciello, B. Siciliano, A. Arezzo, K. Althoefer, "State of the art in soft eversion robots for colonoscopy: A review", Progress in Biomedical Engineering, 2026, DOI: 10.1088/2516-1091/ae37b2.
D. Wei, J. Gong, Z. Tang, Z. Liu, T. Gao, F. Ficuciello, "AMIP-N: Ankle motion intention prediction network combined TCN, LSTM, and wavelet multi-head self-attention based on IMUs", Biomedical Signal Processing and Control, 111, 108282, 2026, DOI: 10.1016/j.bspc.2025.108282.

2025

S. D’Angelo, S, Marcellini, A. De Crescenzo, M. Marolla, V. Lippiello, B. Siciliano, "A semi-autonomous aerial platform enhancing non-destructive tests", Drones, 33, 2025, DOI: 10.3390/drones9080516.J. Duque-Domingo, R. Caccavale, A. Finzi, E. Zalama, J. Gómez-García-Bermejo. "One-shot learning for rapid generation of structured robotic manipulation tasks from 3D video demonstrations". Journal of Intelligent Manufacturing, Springer, 1, 24, 2025, DOI: 10.1007/s10845-025-02673-7.
S. D'Angelo, M. Selvaggio, V. Lippiello, F. Ruggiero, "Semi-autonomous unmanned aerial manipulator teleoperation for push–and–slide inspection using parallel force/vision control", Robotics and Autonomous Systems, 104912, 2025, DOI: 10.1016/j.robot.2024.104912.
H. Heidari, T.G. Saremi, T.G. Saremi, K. Zareinia, F. Ficuciello, "Implementation of a hybrid force/position control system on a robot hand for stable grasping with haptic feedback", Meccanica, 60, 3489–3505, 2025, DOI: 10.1007/s11012-025-02050-x.
T. Hui, S. Rucareanu, E. Zamora, S. D’Angelo, H. Liu, M. Fumagalli, "AEROBULL: A center-of-mass displacing aerial vehicle enabling efficient high-force interaction", Robotics and Autonomous Systems, 105127, 2025, DOI: 10.1016/j.robot.2025.105127.
F. Pagano, N. De Carli, E. Restrepo, A. Marino, P. Robuffo Giordano, "Distributed multi-robot active-sensing of a diffusive source", IEEE Robotics and Automation Letters, 10, 10807–10814, 2025, DOI: 10.1109/LRA.2025.3606376.
F. Pagano, S. Marcellini, M. Selvaggio, V. Lippiello, F. Ruggiero, "Multi-robot nonlinear model predictive control for persistent monitoring", IEEE Transactions on Control Systems Technology, 33, 2025, DOI: 10.1109/TCST.2025.364851.
F.N. Piñan Basualdo, V.D. Trikalitis, S. Visconti, F. Ficuciello, C. Goulas, J. Rouwkema, S. Misra, "Magnetic nozzle‐free embedded 3D (MagNoFE3D) printing", Advanced Materials Technologies, 2401097, 2024, DOI: 10.1002/admt.202401097.
F.N. Piñan Basualdo, C. Verde, F. Ficuciello, S. Misra, "Autonomous sorting of beads in a 3D environment using levitating magnetic microrobots", Advanced Intelligent Systems, 7(12), DOI: 10.1002/aisy.202500200.
G. Rauso, R. Caccavale, A. Finzi. "Incremental learning from virtual demonstrations and task composition for robotic manipulation", Robotics and Autonomous Systems, Elsevier, 105274, 2025, DOI: 10.1016/j.robot.2025.105274.
Z. Shayan, M. Izadi, V. Scognamiglio, S. D’Angelo, S. Singoji, V. Lippiello, R. Faieghi, "Exponential control barrier function and model predictive control for jerk-level reactive motion planning of quadrotors", Control Engineering Practice, 106489, 2025, DOI: 10.1016/j.conengprac.2025.106489.
S. Sulaiman, P. De Risi, F. Schetter, F. Ficuciello, "A stable model reference adaptive controller developed for a prosthetic hand wrist", IEEE Transactions on Automation Science and Engineering, 22, 24413–24434, 2025, DOI: 10.1109/TASE.2025.3634193.
S. Sulaiman, F. Schetter, E. Shahabi, F. Ficuciello, "A learning based impedance control strategy implemented on a soft prosthetic wrist in joint-space", Frontiers in Robotics and AI, 12, 1665267, 2025, DOI: 10.3389/frobt.2025.1665267.
E. Tricomi, G. Piccolo, F. Russo, X. Zhang, F. Missiroli, S. Ferrari, L. Gionfrida, F. Ficuciello, M. Xiloyannis, L. Masia, "Leveraging geometric modeling-based computer vision for context aware control in a hip exosuit", IEEE Transactions on Robotics, 41, 3462–3479, 2025, DOI: 10.1109/TRO.2025.3567489.
D. Wei, Y. Cao, X. Wei, Z. Zhang, T. Gao, S. Hussain, F. Ficuciello, "BATE: a bionic ankle tensegrity exoskeleton with adjustable interaction force and motion space", IEEE/ASME Transactions on Mechatronics, 30, 2025, DOI: 10.1109/TMECH.2025.3599930.
D. Wu, M. Wang, Y. Zhang, W. Zhang, V. Lippiello, B. Siciliano, "Distributed neural network controller based on feature enhancement with flexible time prescribed performance for multi-UAV swarms", IEEE Transactions on Aerospace and Electronic Systems, 61, 8198–8209, 2025, DOI: 110.1109/TAES.2025.3542745.
Z. Xie, X. Gong, P. Arpenti, R. Zou, S. Zhou, W. Zhang, Z. Zhang, Y. Wang, "A novel model analysis of the effects of upper body dynamics on passive dynamic biped walkers”, Multibody System Dynamics, 2025, DOI: 10.1007/s11044-025-10068-y.
Z. Xie, X. Gong, Q. Fu, P. Arpenti, S. Zhou, A. You, X. Yang, L. Chen, Y. Wang, "Nonlinear dynamics of a passive walker: Bifurcation and stability insights with spring and damper mechanics", International Journal of Mechanical System Dynamics, 2025, DOI: 10.1002/msd2.70057.

2024

O.F. Argin, R. Moccia, C. Iacono, F. Ficuciello, "da Vinci Research Kit patient side manipulator dynamic model using augmented Lagrangian particle swarm optimization," IEEE Transactions on Medical Robotics and Bionics, 6, 589–599, 2024, DOI: 10.1109/TMRB.2024.3387070.
J. Cacace, V. Scognamiglio, F. Ruggiero, V. Lippiello, "Motor fault detection and isolation for multi-rotor UAVs based on external wrench estimation and recurrent deep neural network", Journal of Intelligent & Robotic Systems, 110, 148, 2024, DOI: 10.1007/s10846-024-02176-2.
R. Caccavale, A. Finzi, G. Laudante, C. Natale, S. Pirozzi, L. Villani, "Manipulation of boltlike fasteners through fingertip tactile perception in robotic assembly", IEEE/ASME Transactions on Mechatronics, 29, 820–831, 2024, DOI: 10.1109/TMECH.2023.3320519.
G. D'Ago, M. Selvaggio, A. Suarez, F. J. Gañán, L. R. Buonocore, M. Di Castro, V. Lippiello, A. Ollero, F. Ruggiero, "Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems", Robotics and Autonomous Systems, 175, 104643, 2024, DOI: 10.1016/j.robot.2024.104643.
S. D’Angelo, A. Corrado, F. Ruggiero, J. Cacace, V. Lippiello, “Stabilization and control on a pipe-rack of a wheeled mobile manipulator with a snake-like arm”, Robotics and Autonomous Systems, 171, 104554, 2024, DOI: 10.1016/j.robot.2023.104554. E. Franco, P. Arpenti, A. Donaire, "Integral passivity-based control of underactuated mechanical systems with state-dependent matched disturbances", International Journal of Robust and Nonlinear Control, 34, 3565–3585, 2024, DOI: 10.1002/rnc.7151.
E. Franco, P. Arpenti, A. Donaire, F. Ruggiero, "Integral IDA-PBC for underactuated mechanical systems subject to matched and unmatched disturbances," IEEE Control Systems Letters, 8, 568–573, 2024, DOI: 10.1109/LCSYS.2024.3399474.
M. Gallipoli, S. Buonocore, M. Selvaggio, G. A. Fontanelli, S. Grazioso, G. Di Gironimo, "A virtual reality-based dual-mode robot teleoperation architecture", Robotica, 42, 1935–1958, 2024, DOI: 10.1017/S0263574724000663.
K. Higashi, K. Koyama, F. Ficuciello, R. Ozawa, T. Kiyokawa, W. Wan, K. Harada, "Synergy hand using fluid network: Realization of various grasping/manipulation styles", IEEE Access, 12, 64966, 2024, DOI: 10.1109/ACCESS.2024.3494025.
S. Hussain, F. Ficuciello, "Advancements in soft wearable robots: a sytematic review of actuation mechanisms and physical interfaces", IEEE Transactions on Medical Robotics and Bionics, 6, 903–909, 2024, DOI: 10.1109/TMRB.2024.3407374.
P. Marra, S. Hussain, M. Caianiello, F. Ficuciello, "MPC for suturing stitch automation", IEEE Transactions on Medical Robotics and Bionics, 6, 1468–1477, 2024, DOI: 10.1109/TMRB.2024.3472796.
M. Sallam, M.A. Shamseldin, F. Ficuciello, "Autonomous navigation and control of magnetic microcarriers using potential field algorithm and adaptive non-linear PID", Frontiers in Robotics and AI, 11, 1439427, 2024, DOI: 10.3389/frobt.2024.1439427.
M. Selvaggio, R. Moccia, P. Arpenti, R. Caccavale, F. Ruggiero, J. Cacace, F. Ficuciello, A. Finzi, V. Lippiello, L. Villani, B. Siciliano, “Robotics goes PRISMA”, Robotica, 42, 2024, DOI: 10.1017/S026357472400033X.
A. Singh, M. Pinto, P. Kaltsas, S. Pirozzi, S. Sulaiman, F. Ficuciello. "Validations of various in-hand object manipulation strategies employing a novel tactile sensor developed for an under-actuated robot hand", Frontiers in Robotics and AI, 11 1460589, 2024, DOI: 10.3389/frobt.2024.1460589.
S.M. Orozco Soto, V. Lippiello, "Increasing horizontal controlled force delivery capabilities of aerial manipulators by leveraging the environment", Robotics, 13(10), 147; 2024, DOI: 10.3390/robotics13100147.
D. Wei, X. Zhang, K. Yang, T. Gao, S. Hussain, F. Ficuciello, "Novel multi‐configuration elastic actuator with controllable energy flow and power modulation for dynamic energy robot systems", Advanced Intelligent Systems, 6, 2400079, 2024, DOI: 10.1002/aisy.202400079.
Z. Xie, Y. Wang, X. Luo, P. Arpenti, F. Ruggiero, B. Siciliano, “Three-dimensional variable center of mass height biped walking using a new model and nonlinear model predictive control”, Mechanism and Machine Theory, 197, 2024, DOI: 10.1016/j.mechmachtheory.2024.105651.

2023

C. Balsano, P. Burra, C. Duvoux, A. Alisi, F. Piscaglia, P. Invernizzi, M.R. Brunetto, F. Bonino, R. Montalti, S. Campanile, M. Persico, D. Alvaro, S.J. Santini, A. Gerussi, M. Carbone, M. Masarone, A. Eccher, B. Siciliano, M. Vento, F. Ficuciello, F. Cabitza, S. Penasa, P. Donatelli, “Artificial Intelligence and liver: opportunities and barriers”, Digestive and Liver Disease, 2023, DOI: 10.1016/j.dld.2023.08.048.
J. Cacace, R. Caccavale, A. Finzi, R. Grieco, "Combining human guidance and structured task execution during physical human–robot collaboration", Journal of Intelligent Manufacturing, 34, 3053–3067, 2023, DOI: 10.1007/s10845-022-01989-y.
J. Cacace, L. Giampetraglia, F. Ruggiero, V. Lippiello, “A novel gripper prototype for helical bird diverter manipulation”, Drones, 7(1), 60, 2023, DOI: 10.3390/drones7010060.
M. Iskandar, C. Ott, A. Albu-Schäffer, B. Siciliano, A. Dietrich, “Hybrid force–impedance control for fast end-effector motion”, IEEE Robotics and Automation Letters, 8, 3931–3938, 2023, DOI: 10.1109/LRA.2023.3270036.
A. Mashayekhi, A. Karami, B. Siciliano, “A new approach for simplifying multidegree of freedom haptic device dynamics model”, Journal of Intelligent & Robotic Systems, 108(4), 2023, DOI: 10.1007/s10846-023-01857-8.
V. Morlando, J. Cacace, F. Ruggiero, “Online feet potential fields for quadruped robots navigation in harsh terrains”, Robotics, 12(3), 86, 2023, DOI: 10.3390/robotics12030086.
M. Sallam, A. Leccia, S. Grazioso, T. Caporaso, G. Di Gironimo, F. Ficuciello, "Development and testing of a virtual simulator for a myoelectric prosthesis prototype ― the PRISMA Hand II ― to improve its usability and acceptability". Engineering Applications of Artificial Intelligence, 121, 2023, DOI: 0.1016/j.engappai.2023.105853.
M. Selvaggio, A. Garg, F. Ruggiero, G. Oriolo, B. Siciiano, “Nonprehensile object transportation via model predictive nonsliding manipulation control”, IEEE Transactions on Control Systems Technology, 31, 2231–2244, 2023, DOI: 10.1109/TCST.2023.3277224.
C. Shi, G. Lai, Y. Yu, M. Bellone, V. Lippiello, "Real-time multi-modal active vision for object detection on UAVs equipped with limited field of view LiDAR and camera", IEEE Robotics and Automation Letters, 8, 6571–6578. 2023, DOI: 10.1109/LRA.2023.3309575.
F. Stroppa, M. Selvaggio, N. Agharese, M. Luo, L.H. Blumenschein E. W. Hawkes, A.M. Okamura, "Shared-control teleoperation paradigms on a soft growing robot manipulator", Journal of Intelligent & Robotic Systems, 109, 30, 2023, DOI: 10.1007/s10846-023-01919-x.
R. Subburaman, M. Selvaggio, F. Ruggiero, “A non-prehensile object transportation framework with adaptive tilting based on quadratic programming”, IEEE Robotics and Automation Letters, 8, 3581–3588, 2023, DOI: 10.1109/LRA.2023.3268594.

2022

P. Arpenti, F. Ruggiero, V. Lippiello, "A constructive methodology for the IDA-PBC of underactuated 2-DoF mechanical systems with explicit solution of PDEs", International Journal of Control, Automation and Systems, 20, 283–297, 2022, DOI: 10.1007/s12555-020-0839-1.
R. Caccavale, A. Finzi, "A rapidly-exploring random trees approach to combined task and motion planning", Robotics and Autonomous Systems, 157, 104238, 2022, DOI: 10.1016/j.robot.2022.104238.
E. Coevoet, Y. Adagolodjo, M. Lin, C. Duriez, F. Ficuciello, "Planning of soft-rigid hybrid arms in contact with compliant environment: Application to the transrectal biopsy of the prostate", IEEE Robotics and Automation Letters 7, 4853–4860, 2022, DOI: 10.1109/LRA.2022.3152322.
Y. Farid, F. Ruggiero, "Finite-time extended state observer and fractional-order sliding mode controller for impulsive hybrid port-Hamiltonian systems with input delay and actuators saturation: Application to ball-juggler robots", Mechanism and Machine Theory, 167, 104577, 2022, DOI: 10.1016/j.mechmachtheory.2021.104577.
Y. Farid, B. Siciliano, F. Ruggiero, “Review and descriptive investigation of the connection between bipedal locomotion and non-prehensile manipulation,”, Annual Reviews in Control, 53, 51–69, 2022, DOI: 10.1016/j.arcontrol.2022.04.009.
M. Ferro, A. Mirante, F. Ficuciello, M. Vendittelli, "A CoppeliaSim dynamic simulator for the da Vinci Research Kit", IEEE Robotics and Automation Letters, 8, 129–136, 2022, DOI: 10.1109/LRA.2022.3222994.
S. Katyara, F. Ficuciello, D.G. Caldwell, B. Siciliano, F. Chen, "Leveraging kernelized synergies on shared subspace for precision grasping and dexterous manipulation", IEEE Transactions on Cognitive and Developmental Systems, 14, 2022, DOI: 10.1109/TCDS.2021.3110406.
V. Lippiello, J. Cacace, "Robust visual localization of a UAV over a pipe-rack based on the Lie Group SE (3)", IEEE Robotics and Automation Letters, 7, 295‒302, 2022, DOI: 10.1109/LRA.2021.3125039.
S.M. Orozco Sotos, J. Cacace, F. Ruggiero, V. Lippiello, “Active disturbance rejection control for the robust flight of a passively tilted hexarotor”, Drones, 6(9), 258, 2022, DOI: 10.3390/drones6090258.
S.M. Orozco Sotos, F. Ruggiero, V. Lippiello, “Globally attractive hyperbolic control for the robust flight of an actively tilting quadrotor”, Drones, 6(12), 373, 2022, DOI: 10.3390/drones6120373.
C. Yang, S. Luo, N. Lepora, F. Ficuciello, D. Lee, W. Wan, C.Y. Su, "Biomimetic perception, cognition, and control: From nature to robots", IEEE Robotics & Automation Magazine, 29(4), 8–8, 2022, DOI: 10.1109/MRA.2022.3213199.
Y. Yu, C. Shi, D. Shan, V. Lippiello, Y. Yang, "A hierarchical control scheme for multiple aerial vehicle transportation systems with uncertainties and state/input constraints", Applied Mathematical Modelling, 109, 651–678. 2022, DOI: 10.1016/j.apm.2022.05.013.
J. Zhu, A. Cherubini, C. Dune, D. Navarro-Alarcon, F. Alambeigi, D. Berenson, F. Ficuciello, K. Harada, J. Kober, X. Li, J. Pan, W. Yuan, M. Gienger, "Challenges and outlook in robotic manipulation of deformable objects", IEEE Robotics & Automation Magazine, 29(4), 67–77, 2022, DOI: 10.1109/MRA.2022.3147415.

2021

G. Averta, C. Della Santina, F. Ficuciello, M. Roa, M. Bianchi, "Editorial: On the planning, control, and perception of soft robotic end-effectors", Frontiers in Robotics and AI, 8, 2021, DOI: 10.3389/frobt.2021.795863.
A. Botta, J. Cacace, R. De Vivo, B. Siciliano, G. Ventre, "Networking for cloud robotics: The DewROS platform and its application", Journal of Sensor and Actuator Networks, 101(34), 2021, DOI: 10.3390/jsan10020034.
J. Cacace, S. M. Orozco-Soto, A. Suarez, A. Caballero, M. Orsag, S. Bogdan, G. Vasiljevic, E. Ebeid, J. A. Acosta Rodriguez, A. Ollero, "Safe local aerial manipulation for the installation of devices on power lines: first year results and designs", Applied Sciences, 11, 13, 2021 DOI: https://doi.org/10.3390/app11136220.
R. Caccavale, A. Finzi, “A robotic cognitive control framework for collaborative task execution and learning”, Topics in Cognitive Science, 2021, DOI: 10.1111/tops.12587.
Y. Farid, F. Ruggiero, "Finite-time disturbance rejection and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots", Robotics and Autonomous Systems, 144, 103836, 2021, DOI: 10.1016/j.robot.2021.103836.
F. Ficuciello, A. Villani, T. Lisini Baldi, D. Prattichizzo, "A human gesture mapping method to control a multi-functional hand for robot-assisted laparoscopic surgery: The MUSHA case", Frontiers in Robotics and AI, 8, 2021, DOI: 10.3389/frobt.2021.741807.
A. Iele, A. Ricciardi, C. Pecorella, A. Cirillo, F. Ficuciello, B. Siciliano, R. La Rocca, V. Mirone, M. Consales, A. Cusano, "Miniaturized optical fiber probe for prostate cancer screening", Biomedical Optics Express, 101(34), 2021, DOI: 10.1364/BOE.430408.
V. Morlando, A. Teimoorzadeh, F. Ruggiero, "Whole-body control with disturbance rejection through a momentum-based observer for quadruped robots", Mechanism and Machine Theory, 164, 104412, 2021, DOI: 10.1016/j.mechmachtheory.2021.104412.
C. Pecorella, A. Cirillo, B. Siciliano, A. Iele, A. Ricciardi, M. Consales, A. Cusano, M. Capece, G. Celentano, R. La Rocca, V. Mirone, F. Ficuciello, "Robot-aided prostate cancer diagnosis with fiber optic sensing: A validation study on phantoms and ex-vivo tissues", Uro, 11, 245–253, 2021, DOI: 10.3390/uro1040027.
A. Sciutti, F. Battaglia, M.R. Fossati, V. Calderai, M.G. Catalano, G. Antonelli, G.M. Di Nunzio, N. Dubbini, L. Giarré, E. Menegatti, F. Negrello, F. Pascucci, M. Pivetti, A.M. Zanchettin, A. Baroncelli, S. Majorana, C. Marchisio, B. Siciliano, P. Rocco, G. Metta, C. Melchiorri, C. Laschi, E. Guglielmelli, A. De Luca, P. Dario, A. Bicchi, "Making an opportunity out of a crisis: The inclusive approach of the Italian robotics community", IEEE Robotics and Automation Magazine, 28(4), 79–91, 2021, DOI: 10.1109/MRA.2021.3105639.
M. Selvaggio, J. Cacace, C. Pacchierotti, F. Ruggiero, P. Robuffo Giordano, "A shared-control teleoperation architecture for nonprehensile object transportation", IEEE Transactions on Robotics, 38, 569–583, 2022, DOI: 10.1109/TRO.2021.3086773.
M. Selvaggio, M. Cognetti, S. Nikolaidis, S. Ivaldi, B. Siciliano, "Autonomy in physical human‒robot interaction: A brief survey", IEEE Robotics and Automation Letters, 6, 7989–7996, 2021, DOI: 10.1109/LRA.2021.3100603.
M. Tognon, R. Alami, B. Siciliano, "Physical human–robot interaction with a tethered aerial vehicle: Application to a force-based human guiding problem", IEEE Transactions on Robotics, 37, 723–734, 2021, DOI: 10.1109/TRO.2020.3038700.C. Yang, Y. Wu, F. Ficuciello, X. Wang, A. Cangelosi, "Guest editorial: Special issue on human-friendly cognitive robotics", IEEE Transactions on Cognitive and Developmental Systems, 13, 2‒5, 2021, DOI: 10.1109/TCDS.2020.3044691.

2020

P. Arpenti, R. Caccavale, G. Paduano, G.A. Fontanelli, V. Lippiello, L. Villani, B. Siciliano, "RGB-D recognition and localization of cases for robotic depalletizing in supermarkets", IEEE Robotics and Automation Letters, 5, 6233–6238, 2020, DOI: 10.1109/LRA.2020.3013936.
V.E. Arriola-Rios, P. Guler, F. Ficuciello, D. Kragic, B. Siciliano, J.L. Wyatt, "Modeling of deformable objects for robotic manipulation: A tutorial and review", Frontiers in Robotics and AI, 7(82), 2020, DOI: 10.3389/frobt.2020.00082.
H. Balta, J. Velagic, H. Beglerovic, G. De Cubber, B. Siciliano, "3D registration and integrated segmentation framework for heterogeneous unmanned robotic systems", Remote Sensing, 12, 1608, 2020, DOI: 10.3390/rs12101608.
R. Caccavale, P. Arpenti, G. Paduano, A. Fontanellli, V. Lippiello, L. Villani, B. Siciliano, "A flexible robotic depalletizing system for supermarket logistics", IEEE Robotics and Automation Letters, 5, 4471–4476, 2020, DOI: 10.1109/LRA.2020.3000427.
F. Ficuciello, G. Pisani, S. Marcellini, B. Siciliano, "The PRISMA Hand I: A novel underactuated design and EMG/voice-based multimodal control", Engineering Applications of Artificial Intelligence, 93, 2020, DOI: 10.1016/j.engappai.2020.103698.
A. Finzi, T. Lukasiewicz, "Partially observable game‐theortic agent programming in Golog", International Journal of Approximate Reasoning, 119, 220–241, 2020, DOI: 10.1016/j.ijar.2019.12.017.
G.A. Fontanelli, L.R. Buonocore, F. Ficuciello, L. Villani, B. Siciliano, "An external force sensing system for minimally invasive robotic surgery", IEEE/ASME Transactions on Mechatronics, 25, 1543–1554, 2020, DOI: 10.1109/TMECH.2020.2979027.
G.A. Fontanelli, G. Paduano, R. Caccavale, P. Arpenti, V. Lippiello, L. Villani, B. Siciliano, "A reconfigurable gripper for robotic autonomous depalletizing in supermarket logistics", IEEE Robotics and Automation Letters, 5, 4612–4617, 2020, DOI: 10.1109/LRA.2020.3003283.
M.H. Hamedani, M. Zekri, F. Sheikholeslam, M. Selvaggio, F. Ficuciello, B. Siciliano, "Recurrent fuzzy wavelet neural network variable impedance control of robotic manipulators with fuzzy gain dynamic surface in an unknown varied environment", Fuzzy Sets and Systems, 2020, DOI: 10.1016/j.fss.2020.05.001.
J. Lachner, V. Schettino, F. Allmendinger, M.D. Fiore, F. Ficuciello, B. Siciliano, S. Stramigioli, "The influence of coordinates in robotic manipulability analysis", Mechanism and Machine Theory, 146, 2020, DOI: 10.1016/j.mechmachtheory.2019.103722.
H. Liu, M. Selvaggio, P. Ferrentino, R. Moccia, S. Pirozzi, U. Bracale, F. Ficuciello, "The MUSHA hand II: A multi-functional hand for robot-assisted laparoscopic surgery", IEEE/ASME Transactions on Mechatronics, 393–404, 2020, DOI: 10.1109/TMECH.2020.3022782.
H. Liu, L. Zhao, B. Siciliano, F. Ficuciello, "Modeling, optimization, and experimentation of the ParaGripper for in-hand manipulation without parasitic rotation", IEEE Robotics and Automation Letters, 5, 3011–3018, 2020, DOI: 10.1109/LRA.2020.2974419.
A. Mashayekhi, S. Behbahani, F. Ficuciello, B. Siciliano, "Influence of human operator on stability of haptic rendering: a closed-form equation", International Journal of Intelligent Robotics and Applications, 4, 403–415, 2020, DOI: 10.1007/s41315-020-00131-6.
Y. Mintz, A. Arezzo, L. Boni, M. Chand, R. Brodie, A. Fingerhut, and the Technology Committee of the European Association for Endoscopic Surgery, "A low-cost, safe, and effective method for smoke evacuation in laparoscopic surgery for suspected coronavirus patients", Annals of Surgery, 272(1), e7‒e8, 2020, DOI: 10.1097/SLA.0000000000003965.
M. Monforte, F. Ficuciello, "A reinforcement learning method using multifunctional principal component analysis for human-like grasping", IEEE Transactions on Cognitive and Developmental Systems, 2020, DOI: 10.1109/TCDS.2020.2988641.
R. Moccia, C. Iacono, B. Siciliano, F. Ficuciello, "Vision-based dynamic virtual fixtures for tools collision avoidance in robotic surgery", IEEE Robotics and Automation Letters, 5, 1650–1655, 2020, DOI: 10.1109/LRA.2020.2969941.

2019

R. Caccavale, A. Finzi, "Learning attentional regulations for structured tasks execution in robotic cognitive control", Autonomous Robots, 43, 2229–2243, 2019, DOI: 10.1007/s10514‐019‐09876‐x.
R. Caccavale, M. Saveriano, A. Finzi, D. Lee, "Kinesthetic teaching and attentional supervision of structured tasks in human–robot interaction", Autonomous Robots, 43, 1291–1307, 2019, DOI: 10.1007/s10514‐018‐9706‐9.
F. Ficuciello, A. Migliozzi, G. Laudante, P. Falco, B. Siciliano, "Vision-based grasp learning of an anthropomorphic hand-arm system in a synergy-based control framework", Science Robotics, 4(26), 2019, DOI: 10.1126/scirobotics.aao4900.
F. Ficuciello, G. Tamburrini, A. Arezzo, L. Villani, B. Siciliano, "Autonomy in surgical robots and its meaningful human control", Paladyn Journal of Behavioral Robotics, 10, 30–43, 2019, DOI: 10.1515/pjbr-2019-0002.
S. Grazioso, G. Di Gironimo, D. Iglesias, B. Siciliano, "Screw-based dynamics of a serial/parallel flexible manipulator for DEMO blanket remote handling", Fusion Engineering and Design, 139, 39–46, 2019, DOI: 10.1016/j.fusengdes.2018.12.029.
S. Grazioso, G. Di Gironimo, B. Siciliano, "A geometrically exact model for soft continuum robots: The finite element deformation space formulation", Soft Robotics, 6(6), 2019, DOI: 10.1089/soro.2018.0047.
S. Grazioso, G. Di Gironimo, B. Siciliano, "Modeling and vibration control of flexible mechanical systems for DEMO remote maintenance: Results from the FlexARM project", Fusion Engineering and Design, 146(B), 1423–1425, 2019, DOI: 10.1016/j.fusengdes.2019.02.096.
A. Mashayekhi, S. Behbahani, F. Ficuciello, B. Siciliano, "Delay-dependent stability analysis in haptic rendering", Journal of Intelligent and Robotic Systems, 97, 33–45, 2019, DOI: 10.1007/s10846-019-01017-x.
M. Selvaggio, G.A. Fontanelli, V.R. Marrazzo, U. Bracale, A. Irace, G. Breglio, L. Villani, B. Siciliano, F. Ficuciello, "The MUSHA underactuated hand for robot-aided minimally invasive surgery", International Journal of Medical Robotics and Computer Assisted Surgery, 15(3), 2019, DOI: 10.1002/rcs.1981.
D. Serra, F. Ruggiero , A. Donaire, L.R. Buonocore, V. Lippiello, B. Siciliano, "Control of nonprehensile planar rolling manipulation: A passivity-based approach", IEEE Transactions on Robotics, 35, 317–329, 2019, DOI: 10.1109/TRO.2018.2887356.
M. Staffa, M. Giordano, F. Ficuciello, "A WiSARD network approach for a BCI-based robotic prosthetic control", International Journal of Social Robotics, 12, 749–764, 2019, DOI: 10.1007/s12369-019-00576-1.
Y. Yu, V. Lippiello, “6D pose task trajectory tracking for a class of 3d aerial manipulator from differential flatness”, IEEE Access, 7, 52257–52265, 2019, DOI: 10.11.09/ACCESS.20192910379.
S. Zhao, F. Ruggiero, G.A. Fontanelli, V. Lippiello, Z. Zhu, B. Siciliano, "Nonlinear model predictive control for the stabilization of a wheeled unmanned aerial vehicle on a pipe", IEEE Robotics and Automation Letters, 4, 4314–4321, 2019, DOI: 10.1109/LRA.2019.2931821.
S. Zhao, B. Siciliano, Z. Zhu, A. Gutierrez-Gilles, J. Luo, "Multiway-point-based path planning for free-floating space robots", International Journal of Robotics and Automation, 34, 461–467, 2019, DOI: 10.2316/J.2019.206-0032.

2018

F. Ficuciello, "Hand-arm autonomous grasping: synergistic motions to enhance the learning process", Intelligent Service Robotics, 12, 17–25, 2018, DOI: 10.1007/s11370-018-0262-0
F. Ficuciello, "Synergy-based control of underactuated anthropomorphic hands", IEEE Transactions on Industrial Informatics, 15, 1144–1152, 2018, DOI: 10.1109/TII.2018.2841043.
F. Ficuciello, P. Falco, S. Calynon, "A brief survey on the role of dimensionality reduction in manipulation learning and control strategies", IEEE Robotics and Automation Letters, 3, 2608–2615, 2018. DOI: 10.1109/LRA.2018.2818933.
G.A. Fontanelli, M. Selvaggio, L.R. Buonocore, F. Ficuciello, L. Villani, B. Siciliano, "A new laparoscopic tool with in-hand rolling capabilities for needle reorientation", IEEE Robotics and Automation Letters, 3, 2354–2361, 2018, also presented at 2018 IEEE International Conference on Robotics and Automation, AUS, May 2018, DOI: 10.1109/LRA.2018.2809443.
A. Gutiérrez–Giles, F. Ruggiero, V. Lippiello, B. Siciliano, "Nonprehensile manipulation of an underactuated mechanical system with second order nonholonomic constraints: the robotic hula-hoop", IEEE Robotics and Automation Letters, 3(2), 1136–1143, 2018, DOI: 10.1109/LRA.2018.2792403.
V. Lippiello, G.A. Fontanelli, F. Ruggiero, "Image-based visual-impedance control of a dual-arm aerial manipulator", IEEE Robotics and Automation Letters, 3, 1856–1863, 2018, also presented at 2018 IEEE International Conference on Robotics and Automation, Brisbane, AUS, May 2018, DOI: 10.1109/LRA.2018.2806091.
A. Mashayekhi, S. Behbahani, F. Ficuciello, B. Siciliano, "Analytical stability criterion in haptic rendering: The role of damping", IEEE/ASME Transactions on Mechatronics, 23, 596–603, 2018, DOI: 10.1109/TMECH.2018.2797688.
F. Ruggiero, V. Lippiello, A. Ollero, "Aerial manipulation: A literature review", IEEE Robotics and Automation Letters, 3, 1957–1964, 2018, DOI: 10.1109/LRA.2018.2808541.
F. Ruggiero, V. Lippiello, B. Siciliano, "Nonprehensile dynamic manipulation: A survey", IEEE Robotics and Automation Letters, 3, 1711–1718, 2018, DOI: 10.1109/LRA.2018.2801939.
F. Ruggiero, A. Petit, D. Serra, A.C. Satıci, J. Cacace, A. Donaire, F. Ficuciello, L.R. Buonocore, G.A. Fontanelli, V. Lippiello, L. Villani, B. Siciliano, "Nonprehensile manipulation of deformable objects", IEEE Robotics and Automation Magazine, 25(3), 83–92, 2018, DOI: 10.1109/MRA.2017.2781306.
M. Selvaggio, F. Abi-Farraj, C. Pacchierotti, P. Robuffo Giordano, B. Siciliano, "Haptic-based shared-control methods for a dual-arm system", IEEE Robotics and Automation Letters, 3, 4249–4256, 2018, DOI: 10.1109/LRA.2018.2864353.
M. Selvaggio, G.A. Fontanelli, F. Ficuciello, L. Villani, B. Siciliano, "Passive virtual fixtures adaptation in minimally invasive robotic surgery", IEEE Robotics and Automation Letters, 3, 3129–3136, 2018, DOI: 10.1109/LRA.2018.2849876.
F. Vigoriti, F. Ruggiero, V. Lippiello, L. Villani, "Control of redundant robot arms with null-space compliance and singularity-free orientation representation", Robotics and Autonomous Systems, 100, 186–193, 2018, DOI: 10.1016/j.robot.2017.11.007.

2017

R. Caccavale, A. Finzi, "Flexible task execution and attentional regulations in human–robot interaction", IEEE Transactions on Cognitive and Developmental Systems, 9, 68–79, 2017, DOI: 10.1109/TCDS.2016.2614690.
I. Cerulo, F. Ficuciello, V. Lippiello, B. Siciliano, "Teleoperation of the SCHUNK S5FH underactuated anthropomorphic hand using human hand motion tracking", Robotics and Autonomous Systems, 89, 75–84, 2017, DOI: 10.1016/j.robot.2016.12.004.
F. Cordella, F. Di Corato, B. Siciliano, L. Zollo, "A stochastic algorithm for automatic hand pose and motion estimation", Medical & Biological Engineering & Computing, 55(12), 2197–2208, 2017, DOI: 10.1007/s11517-017-1654-6.
A. Donaire, J.G. Romero, R. Ortega, B. Siciliano, M. Crespo, "Robust IDA-PBC for underactuated mechanical systems subject to matched disturbances", International Journal of Robust and Nonlinear Control, 27, 1000–1016, 2017, DOI: 10.1002/rnc.3615.
A. Donaire, F. Ruggiero, L.R. Buonocore, V. Lippiello, B. Siciliano, "Passivity-based control for a rolling-balancing system: The nonprehensile disk-on-disk", IEEE Transactions on Control Systems Technology, 25(6), 2135–2142, 2017, DOI: 10.1109/TCST.2016.2637719.
R. Mebarki, V. Lippiello, B. Siciliano, "Vision-based and IMU-aided scale factor-free linear velocity estimator", Autonomous Robots, 41(4), 903–917, 2017, DOI: 10.1007/s10514-016-9561-5.
A. Petit, V. Lippiello, A. Fontanelli, B. Siciliano, "Tracking deformable objects with a RGB-D sensor for a pizza chef robot", Robotics and Autonomous Systems, 88, 187–201, 2017, DOI: 10.1016/j.robot.2016.08.023.
R. Russo, D. D'Auria, M. Ciccarelli, G. Della Rotonda, G. D'Elia, B. Siciliano, "Triangular block bridge method for surgical treatment of complex proximal humeral fractures: Theoretical concept, surgical technique and clinical results'', International Journal of the Care of the Injured, 48(3), S12–S19, 2017, DOI: 10.1016/S0020-1383(17)30651-4.
A. Santamaria-Navarro, P. Grosch, V. Lippiello, J. Solà, J. Andrade-Cetto, "Uncalibrated visual servo for unmanned aerial manipulation", IEEE/ASME Transactions on Mechatronics, 22(4), 1610–1621, 2017, DOI: 10.1109/TMECH.2017.2682283.
A.C. Satıcı, A. Donaire, B. Siciliano, "Intrinsic dynamics and total energy-shaping control of the ballbot system", International Journal of Control, 90, 2734–2747, 2017, DOI: 10.1080/00207179.2016.1264630.
P. Zarafshan, R, Larimi, S. Ali, A. Moosavian, B. Siciliano, "Which impedance strategy is the most effective for cooperative object manipulation?'', Industrial Robot: An International Journal, 44(2), 198–209, 2017, DOI: 10.1108/IR-08-2016-0216.

2016

D. D'Auria, G. Ristorto, F. Persia, R. Vidoni, F. Mazzetto, "Development and preliminary tests of a crop monitoring mobile lab based on a combined use of optical sensors", International Journal of Computer & Software Engineering, 1, 2016, DOI: 10.15344/ijcse/2016/103.
A. De Stefano, R. Tausch, P. Santos, A. Kuijper, G. Di Gironimo, D.W. Fellner, B. Siciliano, "Modeling a virtual robotic system for automated 3D digitization of cultural heritage artifacts'', Journal of Cultural Heritage, 19, 531–537, 2016, DOI: 10.1016/j.culher.2015.11.008.
A. Donaire, R. Mehra, R. Ortega, S. Satpute, J.G. Romero, F. Kazi, N.M. Singh, "Shaping the energy of mechanical systems without solving partial differential equations", IEEE Transactions on Automatic Control, 61(4), 1051–1056, 2016, DOI: 10.1109/TAC.2015.2458091.
A. Donaire, R. Ortega, J.G. Romero, "Simultaneous interconnection and damping assignment passivity-based control of mechanical systems using dissipative forces", Systems & Control Letters, 94, 118–126, 2016, DOI: 10.1016/j.sysconle.2016.05.006.
F. Ficuciello, B. Siciliano, "Learning in robotic manipulation: The role of dimensionality reduction in policy search methods — Comment on 'Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands' by Marco Santello et al.", Physics of Life Reviews, 17, 36–37, 2016, DOI: 10.1016/j.plrev.2016.02.001.
F. Ficuciello, L. Villani, B. Siciliano, "Impedance control of redundant manipulators for safe human-robot collaboration", Acta Polytechnica Hungarica, Journal of Applied Science, Special Issue on Recent Advances in Robotics - In Memoriam Antal K. Bejczy Guest Editors: Imre J. Rudas, Tamás Haidegger, 13(1), 223–238, 2016, DOI: 10.12700/APH.13.1.2016.1.15.
V. Lippiello, J. Cacace, A. Santamaria-Navarro, J. Andrade-Cetto, M.A. Trujillo, Y.R. Esteves, A. Viguria, "Hybrid visual servoing with hierarchical task composition for aerial manipulation", IEEE Robotics and Automation Letters, 1(1), 259–266, 2016, DOI: 10.1109/LRA.2015.2510749.
V. Lippiello, F. Ruggiero, B. Siciliano, "The effect of shapes in input-state linearization for stabilization of nonprehensile planar rolling dynamic manipulation'', IEEE Robotics and Automation Letters, 1(1), 492–499, 2016, presented also at 2016 IEEE International Conference on Robotics and Automation, DOI: 10.1109/LRA.2016.2519147.

2015

J. Cacace, A. Finzi, V. Lippiello, G. Loianno, D. Sanzone, "Aerial service vehicles for industrial inspection: Task decomposition and plan execution", Applied Intelligence: Advances in Applied Artificial Intelligence, 42(1), 49–62, 2015, DOI: 10.1007/s10489-014-0542-0.
P. Cigliano, V. Lippiello, F. Ruggiero, B. Siciliano, "Robotic ball catching with an eye-in-hand single-camera system", IEEE Transactions on Control System Technology, 23, 1657–1671, 2015, DOI: 10.1109/TCST.2014.2380175 .
A. Cirillo, F. Ficuciello, C. Natale, S. Pirozzi, L. Villani, "A conformable force/tactile skin for physical human/robot interaction", IEEE Robotics and Automation Letters, 1(1), 41–48, 2015, presented also at 2016 IEEE International Conference on Robotics and Automation, DOI: 10.1109/LRA.2015.2505061.
D. D'Auria, D. Di Mauro, D. Calandra, F. Cutugno, "A 3D audio augmented reality system for a cultural heritage management and fruition", Journal of Digital Information Management, 13(4), 203–209, 2015, DOI: 10.13140/RG.2.1.2171.9520.
F. Ficuciello, L. Villani, B. Siciliano, "Variable impedance control of redundant manipulators for intuitive human-robot physical interaction", IEEE Transactions on Robotics, 31(4), 850–863, 2015, DOI: 10.1109/TRO.2015.2430053.
V. Lippiello, "Anthropomorphic grasp synthesis based on the object dynamic properties", IEEE Robotics & Automation Magazine, 22(4), 69–79, 2015, DOI: 10.1109/MRA.2015.2394711.
R. Mebarki, V. Lippiello, B. Siciliano, "Nonlinear visual control of unmanned aerial vehicles in GPS-denied environments'', IEEE Transactions on Robotics, 31(4), 1004–1017, 2015, DOI: 10.1109/TRO.2015.2451371.
F. Ruggiero, J. Cacace, H. Sadeghian, V. Lippiello, "Passivity-based control of VToL UAVs with a momentum based estimator of external wrench and unmodeled dynamics", Robotics and Autonomous Systems, 72, 139–151, 2015, DOI: 10.1016/j.robot.2015.05.006.

2014

X. Broquere, A. Finzi, J. Mainprice, S. Rossi, D. Sidobre, M. Staffa, "An attentional approach to human-robot interactive manipulation", International Journal of Social Robotics, 6(4), 533–553, 2014, DOI: 10.1007/s12369-014-0236-0.
F. Cordella, L. Zollo, A. Salerno, D. Accoto, E. Guglielmelli, B. Siciliano, "Human hand motion analysis and synthesis of optimal power grasps for a robotic hand", International Journal of Advanced Robotic Systems, 11–37, 2014, DOI: 10.5772/57554.
D. Di Nocera, A. Finzi, S. Rossi, M. Staffa, "The role of intrinsic motivations in attention allocation and shifting", Frontiers in Psychology, 5(273), 2014, DOI: 10.3389/fpsyg.2014.00273.
F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, "Postural synergies of the UB Hand IV for human-like grasping", Robotics and Autonomous Systems, 62, 515–527, 2014, DOI: 10.1016/j.robot.2013.12.008.
R. Mebarki, V. Lippiello, "Image-based control for aerial manipulation", Asian Journal of Control, Special Issue: Vision-Based Control Systems, 16(3), 646–656, 2014, DOI: 0.1002/asjc.887.
G. Palli, C. Melchiorri, G. Vassura, U. Scarcia, L. Moriello, G. Berselli, A. Cavallo, G. De Maria, C. Natale, S. Pirozzi, C. May, F. Ficuciello, B. Siciliano, "The DEXMART Hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping", International Journal of Robotics Research, 33, 799–824, 2014, DOI: 10.1177/0278364913519897.

2013

F. Caccavale, V. Lippiello, G. Muscio, F. Pierri, F. Ruggiero, L. Villani, "Grasp planning and parallel control of a redundant dual-arm/hand manipulation system", Robotica, 31, 1169–1194, 2013, DOI: 10.1017/S0263574713000647.
R. Carloni, V. Lippiello, M. D’Auria, M. Fumagalli, A.Y. Mersha, S. Stramigioli, B. Siciliano, "Robot vision: Obstacle avoidance techniques for unmanned aerial vehicles", IEEE Robotics & Automation Magazine, 20(4), 22–31, 2013, DOI: 10.1109/MRA.2013.2283632.
V. Lippiello, F. Ruggiero, B. Siciliano, "3D monocular robotic ball catching", Robotics and Autonomous Systems, 61, 1615–1625, 2013, DOI: 10.1016/j.robot.2013.06.008.
V. Lippiello, F. Ruggiero, B. Siciliano, L. Villani, "Visual grasp planning for unknown objects using a multi-fingered robotic hand", IEEE/ASME Transactions on Mechatronics, 18, 1050–1059, 2013, DOI: 10.1109/TMECH.2012.2195500.V. Lippiello, B. Siciliano, L. Villani, "A grasping force optimization algorithm for multi-arm robots with multi-fingered hands", IEEE Transactions on Robotics, 29, 55–67, 2013, DOI: 10.1109/TRO.2012.2212633.
V. Lippiello, B. Siciliano, L. Villani, "Multifingered grasp synthesis based on the object dynamic properties", Robotics and Autonomous Systems, 61, 626–636, 2013, DOI: 10.1016/j.robot.2013.02.003.
J.-C. Ryu, F. Ruggiero, K. Lynch, "Control of nonprehensile rolling manipulation: Balancing a disk on a disk", IEEE Transactions on Robotics, 29, 1152–1161, 2013, DOI: 10.1109/TRO.2013.2262775.
H. Sadeghian, L. Villani, M. Keshmiri, B. Siciliano, "Dynamic multi-priority control in redundant robotic systems", Robotica, 31, 1155–1167, 2013, DOI: 10.1017/S0263574713000416.
H. Sadeghian, L. Villani, M. Keshmiri, B. Siciliano, "Task-space control of robot manipulators with null-space compliance", IEEE Transactions on Robotics, 30, 493–506, 2013, DOI: 10.1109/TRO.2013.2291630.
G. Veiga, C. Silva, R. Araujo, N. Pires, B. Siciliano, "The ECHORD project proposals analysis — Research profiles, collaboration patterns and research topic trends", Expert Systems with Applications, 40, 7132–7140, 2013, DOI: 10.1016/j.eswa.2013.06.046.
L. White, R. Bly, D. D'Auria, N. Aghdasi, P. Bartell, L. Cheng, B. Hannaford, "Cricothyrotomy simulator with computational skill assessment for procedural skill training in the developing world", Journal of Otolaryngology – Head & Neck Surgery, 149(2), 2013, DOI: 10.1177/0194599813495815a83.

2012

F. Cordella, L. Zollo, E. Guglielmelli, B. Siciliano, "A bio-inspired grasp optimization algorithm for an anthropomorphic robotic hand", International Journal on Interactive Design and Manufacturing, 6, 113–122, 2012, DOI: 10.1007/s12008-012-0149-9.
A. De Santis, G. Di Gironimo, L. Pelliccia, B. Siciliano, A. Tarallo, "Biomechanically-based motion control for a digital human", International Journal on Interactive Design and Manufacturing, 6, 1–13, 2012, DOI: 10.1007/s12008-011-0132-x.

2009

F. Caccavale, P. Cilibrizzi, F. Pierri, L. Villani, "Actuators fault diagnosis for robot manipulators with uncertain model", Control Engineering Practice, 17, 146–157, 2009, DOI: 10.1016/j.conengprac.2008.05.012.

2008

F. Caccavale, P. Chiacchio, A. Marino, L. Villani, "Six-dof impedance control of dual-arm cooperative manipulators", IEEE/ASME Transactions on Mechatronics, 13, 576–586, 2008, DOI: 10.1109/TMECH.2008.2002816.
F. Caccavale, F. Pierri, L. Villani, "Adaptive observer for fault diagnosis in nonlinear discrete-time systems", ASME Journal of Dynamic Systems, Measurement, and Control, 130, 1–9, 2008, DOI: 10.1115/1.2837310.A. De Santis, B. Siciliano, L. Villani, "A unified fuzzy logic approach to trajectory planning and inverse kinematics for a fire fighting robot operating in tunnels", Intelligent Service Robotics, 1, 41–49, 2008, DOI: 10.1007/s11370-007-0003-2.
V. Lippiello, B. Siciliano, L. Villani, "Interaction control of robot manipulators using force and vision", International Journal of Optomechatronics, 2, 257–274, 2008, DOI: 10.1109/IROS.2006.281974.

2007

V. Lippiello, B. Siciliano, L. Villani, "Adaptive extended Kalman filtering for visual motion estimation of 3D objects", Control Engineering Practice, 15, 123–134, 2007, DOI: 10.1016/j.conengprac.2006.05.006.
V. Lippiello, B. Siciliano, L. Villani, "An open architecture for sensory feedback control of a dual-arm industrial robotic cell", Industrial Robot, 34, 46–53, 2007, DOI: 10.1108/01439910710718441.
V. Lippiello, B. Siciliano, L. Villani, "Position-based visual servoing in industrial multi-robot cells using a hybrid camera configuration", IEEE Transactions on Robotics, 23, 73–86, 2007, DOI: 10.1109/TRO.2006.886832.

2005

A. De Luca, B. Siciliano, L. Zollo, "PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments", Automatica, 41, 1809–1819, 2005, DOI: 10.1016/j.automatica.2005.05.009.
V. Lippiello, "Real-time visual tracking based on BSP-tree representations of object boundary", Robotica, 23,365–375, 2005, DOI: 10.1017/S0263574704001006.
L. Zollo, L. Dipietro, B. Siciliano, E. Guglielmelli, P. Dario, "A bio-inspired approach for regulating and measuring visco-elastic properties of a robot arm", Journal of Robotic Systems, 22, 397–419, 2005, DOI: 10.1002/rob.20075.
L. Zollo, B. Siciliano, A. De Luca, E. Guglielmelli, P. Dario, "Compliance control for an anthropomorphic robot with elastic joints: Theory and experiments", ASME Journal of Dynamic Systems, Measurement, and Control, 127, 321–328, 2005, DOI: 10.1115/1.1978911.

2003

F. Caccavale, C. Natale, L. Villani, "Output feedback control of mechanical systems with application to spacecraft and robots", AIAA Journal of Guidance, Control, and Dynamics, 26, 273–282, 2003, DOI: 10.2514/2.5044.
F. Caccavale, B. Siciliano, L. Villani, "The Tricept robot: Dynamics and impedance control", IEEE/ASME Transactions on Mechatronics, 8, 263–268, 2003, DOI: 10.1109/TMECH.2003.812839.
V. Lippiello, L. Villani, "Managing redundant visual measurements for accurate pose tracking", Robotica, 21, 511–519, 2003, DOI: 10.1017/S0263574703005137.
L. Zollo, B. Siciliano, C. Laschi, G. Teti, P. Dario, "An experimental study on compliance control for a redundant personal robot arm", Robotics and Autonomous Systems, 44, 101–129, 2003, DOI: 10.1016/S0921-8890(03)00042-3.

2000

G. Antonelli, F. Caccavale, S. Chiaverini, L. Villani, "Tracking control for underwater vehicle-manipulator systems with velocity estimation", IEEE Journal of Oceanic Engineering, 25, 399–413, 2000, DOI: 10.1109/48.855403.
M.A. Arteaga, B. Siciliano, "On tracking control of flexible robot arms", IEEE Transactions on Automatic Control, 45, 520–527, 2000, DOI: 10.1109/9.847736.L. Villani, C. Natale, B. Siciliano, C. Canudas de Wit, "An experimental study of adaptive force/position control algorithms for an industrial robot", IEEE Transactions on Control Systems Technology, 8, 777–786, 2000, DOI: 10.1109/87.865851.

1999

F. Caccavale, B. Siciliano, L. Villani, "Robot impedance control with nondiagonal stiffness", IEEE Transactions on Automatic Control, 44, 1943–1946, 1999, DOI: 10.1109/9.793782.
F. Caccavale, C. Natale, B. Siciliano, L. Villani, "Six-DOF impedance control based on angle/axis representations", IEEE Transactions on Robotics and Automation, 15, 289–300, 1999, DOI: 10.1109/70.760350.
F. Caccavale, L. Villani, "Output feedback control for attitude tracking", Systems & Control Letters, 38, 91–98, 1999, DOI: 10.1016/S0167-6911(99)00050-X.
S. Chiaverini, B. Siciliano, L. Villani, "A survey of robot interaction control schemes with experimental comparison", IEEE/ASME Transactions on Mechatronics, 4, 273–285, 1999, DOI: 10.1109/3516.789685.
B. Siciliano, "Closed-loop inverse kinematics algorithms for constrained flexible manipulators under gravity", Journal of Robotic Systems, 16, 353–362, 1999, DOI: 10.1002/(SICI)1097-4563(199906)16:6
B. Siciliano, "The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm", Robotica, 17, 437–445, 1999.
L. Villani, C. Canudas de Wit, B. Brogliato, "An exponentially stable adaptive control for force and position tracking of robot manipulators", IEEE Transactions on Automatic Control, 44, 798–802, 1999, DOI: 10.1109/9.754821.

1998

F. Caccavale, C. Natale, B. Siciliano, L. Villani, "Resolved-acceleration control of robot manipulators: A critical review with experiments", Robotica, 16, 565–573, 1998.
B. Siciliano, L. Villani, "Passivity-based interaction controller and observer for robot manipulators", ASME Journal of Dynamic Systems, Measurement, and Control, 120(4), 516–520, 1998, DOI: 10.1115/1.2801494.

1997

F. Caccavale, S. Chiaverini, B. Siciliano, "Second-order kinematic control of robot manipulators with Jacobian damped least-squares inverse: Theory and experiments", IEEE/ASME Transactions on Mechatronics, 2, 188–194, 1997, DOI: 10.1109/3516.622971.
A. Cavallo, L. Villani, "Sliding manifold approach to the control of rigid robots: experimental results", Control Engineering Practice, 5, 619–625, 1997.
B. Siciliano, L. Villani, "An output feedback parallel force/position regulator for a robot manipulator in contact with a compliant environment", Systems & Control Letters, 29, 295–300, 1997, DOI: 10.1016/S0167-6911(97)90017-7.

1996

P. Chiacchio, S. Chiaverini, B. Siciliano, "Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system", ASME Journal of Dynamic Systems, Measurement, and Control, 118, 691–697, 1996, DOI: 10.1115/1.2802344.
B. Siciliano, L. Villani, "A passivity-based approach to force regulation and motion control of robot manipulators", Automatica, 32, 443–447, 1996, DOI: 10.1016/0005-1098(95)00173-5.

1994

S. Chiaverini, B. Siciliano, L. Villani, "Force/position regulation of compliant robot manipulators", IEEE Transactions on Automatic Control, 39, 647–652, 1994, DOI: 10.1109/9.280780.
S. Chiaverini, B. Siciliano, O. Egeland, "Review of the damped least-squares inverse kinematics with experiments on an industrial robot manipulator", IEEE Transactions on Control Systems Technology, 2, 123–134, 1994, DOI: 10.1109/87.294335.
L. Sciavicco, B. Siciliano, "Decentralized control schemes for industrial robot manipulators", Modelling, Measurement & Control, 52B, 41–52, 1994.

1993

P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, "Reply to 'Comments on global task space manipulability ellipsoids for multiple-arm systems and further considerations'", IEEE Transactions on Robotics and Automation, 9, 235–236, 1993, DOI: 10.1109/70.238288.
P. Chiacchio, F. Pierrot, L. Sciavicco, B. Siciliano, "Robust design of independent joint controllers with experimentation on a high-speed parallel robot", IEEE Transactions on Industrial Electronics, 40, 393–403, 1993, DOI: 10.1109/41.232228.
A. De Luca, B. Siciliano, "Inversion-based nonlinear control of robot arms with flexible links", AIAA Journal of Guidance, Control, and Dynamics, 16, 1169–1176, 1993, DOI: 10.2514/3.21142.
A. De Luca, B. Siciliano, "Regulation of flexible arms under gravity", IEEE Transactions on Robotics and Automation, 9, 463–467, 1993, DOI: 10.1109/70.246057.

1992

P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, "Influence of gravity on the manipulability ellipsoid for robot arms", ASME Journal of Dynamic Systems, Measurement, and Control, 114, 723–727, 1992, DOI: 10.1115/1.2897748.
B. Siciliano, J.V.R. Prasad, A.J. Calise, "Output feedback two-time scale control of multilink flexible arms", ASME Journal of Dynamic Systems, Measurement, and Control, 114, 70–77, 1992, DOI: 10.1115/1.2896509.

1991

P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, "Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy", International Journal of Robotics Research, 10, 410–425, 1991, DOI: 10.1177/027836499101000409.
P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, "Global task space manipulability ellipsoids for multiple arm systems", IEEE Transactions on Robotics and Automation, 7, 678–685, 1991, DOI: 10.1109/70.97880.
P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano, "Task space dynamic analysis of multiarm system configurations", International Journal of Robotics Research, 10, 708–715, 1991, DOI10.1177/027836499101000608.
S. Chiaverini, B. Siciliano, O. Egeland, "Redundancy resolution for the human-arm-like manipulator", Robotics and Autonomous Systems, 8, 239–250, 1991, DOI: 10.1016/0921-8890(91)90007-8.
A. De Luca, B. Siciliano, "Closed-form dynamic model of planar multilink lightweight robots", IEEE Transactions on Systems, Man, and Cybernetics, 21, 826–839, 1991.

1990

A.J. Calise, J.V.R. Prasad, B. Siciliano, "Design of optimal output feedback compensators in two-time scale systems", IEEE Transactions on Automatic Control, 35, 488–492, 1990, DOI: 10.1109/9.52312.
B. Siciliano, "A closed-loop inverse kinematic scheme for on-line joint-based robot control", Robotica, 8, 231–243, 1990.

1989

P. Chiacchio, B. Siciliano, "A closed-loop Jacobian transpose scheme for solving the inverse kinematics of nonredundant and redundant wrists", Journal of Robotic Systems, 6, 601–630, 1989, DOI: 10.1002/rob.4620060507.
A. De Luca, B. Siciliano, "Trajectory control of a non-linear one-link flexible arm", International Journal of Control, 50, 1699–1715, 1989, DOI: 10.1080/00207178908953460.
B.-S. Yuan, W.J. Book, B. Siciliano, "Direct adaptive control of a one-link flexible arm with tracking", Journal of Robotic Systems, 6, 663–680, 1989, DOI: 10.1002/rob.4620060602.

1988

A. Balestrino, G. De Maria, L. Sciavicco, B. Siciliano, "An algorithmic approach to coordinate transformation for robotic manipulators", Advanced Robotics, 2, 327–344, 1998, DOI: 10.1163/156855388X00029.
L. Sciavicco, B. Siciliano, "A solution algorithm to the inverse kinematic problem for redundant manipulators", IEEE Journal of Robotics and Automation, 4, 403–410, 1988, DOI: 10.1109/56.804.
B. Siciliano, W.J. Book, "A singular perturbation approach to control of lightweight flexible manipulators", International Journal of Robotics Research, 7(4), 79–90, 1988, DOI: 10.1177/027836498800700404.

1986

L. Sciavicco, B. Siciliano, "Coordinate transformation: A solution algorithm for one class of robots", IEEE Transactions on Systems, Man, and Cybernetics, 16, 550–559, 1986, DOI: 10.1109/TSMC.1986.289258.

Invited