Publications

International journal papers

[IJ-6] 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, Matteo Bianchi, Marco Gabiccini, Emiliano Ricciardi, Gionata Salvietti et al.", Physics of Life Reviews, 17:36-37 2016, doi:
10.1016/j.plrev.2016.04.002.

[IJ-5] 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.

[IJ-4] 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, doi: 10.1109/LRA.2015.2505061.

[IJ-3] 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.

[IJ-2] 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", The International Journal of Robotics Research, 33(5):799-824, 2014, doi: 10.1177/0278364913519897.

[IJ-1] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, "Postural Synergies of the UB Hand IV for Human-like Grasping", Robotics and Autonomous Systems, 62(4): 515-527, 2014, doi: 10.1016/j.robot.2013.12.008.

Book chapters

[BC-5] F. Ficuciello, L. Villani, B. Siciliano "Redundancy Resolution in HumanRobot Co-Manipulation with Cartesian Impedance Control", Springer Tracts in Advanced Robotics (STAR), Experimental Robotics, M. A. Hsieh, O. Khatib, V. Kumar (Eds.), Springer, no.109, pp. 165-176, 2015, doi: 10.1007/978-3-319-23778-7_12.

[BC-4] F. Ficuciello, A. Romano, V. Lippiello, L. Villani, B. Siciliano "Human Motion Mapping to a Robot Arm with Redundancy Resolution", 14th International Symposium on Advances in Robot Kinematics, Ljubljana (Slovenia), June 29–July 3, 2014 in Latest Advances in Robot Kinematics, J. Lenarcic and O. Kathib (Eds.), Springer, pp. 193–201, 2014, doi: 10.1007/978-3-319-06698-1_21.

[BC-3] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, "Postural Synergies and Neural Network for Autonomous Grasping: a Tool for Dextrous Prosthetic and Robotic Hands", Converging Clinical and Engineering Research on Neurorehabilitation, Biosystems & Biorobotics, J.Pons et al. (Eds.), Springer Berlin Heidelberg, no. 1, pp. 467-480, 2013, doi 10.1007/978-3-642-34546-3_76.

[BC-2] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, "Mapping Grasps from the Human Hand to the DEXMART Hand by means of Postural Synergies and Vision", Springer Tracts in Advanced Robotics (STAR), Experimental Robotics,  O. Khatib, V. Kumar, G. Sukhatme (Eds.), Springer, no.88, pp. 515-529, 2013, doi: 10.1007/978-3-319-00065- 7_35.

[BC-1] L. Villani, F. Ficuciello, V. Lippiello, G. Palli, F. Ruggiero, B. Siciliano, "Grasping and Control of Multifingered Hands", Springer Tracts in Advanced Robotics (STAR), Advanced bimanual manipulation, B. Siciliano (Eds.), Springer, vol. 80, pp. 219-266, 2012, doi: 10.1007/978-3-642-29041-1_5.

International conference papers

[IC-18] F. Ficuciello, D. Zaccara, B. Siciliano, Learning Grasps in a Synergy-based Framework, 15th International Symposium on Experimental Robotics, Tokyo, Japan, 3-6 October, 2016, to appear.

[IC-17] F. Ficuciello, D. Zaccara, B. Siciliano, Synergy-based Policy Improvement with Path Integrals for Anthropomorphic Hands, IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, 9–14 September, 2016, to appear.

[IC-16] F. Fazioli, F. Ficuciello, G.A. Fontanelli, B. Siciliano, L. Villani, Collision Algorithm for a Clamp Grabbing Deformable Materials: Implementation in an Open-Source Engine, 9th International Workshop on "Human-Friendly Robotics" (HFR), Genova, Italy, 29-
30 October, 2016, to appear.

[IC-15] F. Ficuciello, D. Zaccara, B. Siciliano, Learning Strategies for Anthropomorphic Hands in a Synergy-based Framework, 9th International Workshop on "Human-Friendly Robotics" (HFR), Genova, Italy, 29-30 October, 2016, to appear.

[IC-14] F. Fazioli, F. Ficuciello, G.A. Fontanelli, B. Siciliano, L. Villani, Implementation of a soft-rigid collision algorithm in an open-source engine for surgery realistic simulation, 6th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), Pisa, Italy, 12-14 September, 2016, to appear.

[IC-13] F. Ficuciello, A. Federico, V. Lippiello, B. Siciliano, Synergies Evaluation of the SCHUNK S5FH for Grasping Control, 15th International Symposium on Advances in Robot Kinematics, Grasse, France, June 29–July 3, 2016, to appear.

[IC-12] F. Ficuciello, D. Zaccara, L. Villani, B. Siciliano, Experimental Test of Synergies Computed on the SCHUNK S5FH under-actuated Hand, 8th International Workshop on "Human-Friendly Robotics" (HFR), Munich, Germany, 21-23 Oct, 2015.

[IC-11] F. Ficuciello, L. Villani, B. Siciliano, The Role of Impedance Modulation and Redundancy Resolution in Human-Robot Interaction, IEEE International Conference on Robotics and Automation, Workshop on "Compliant and Versatile Robot Control in Human Environments: Bridging the Gap between Learning and Control", Seattle, Washington, 26-30 May, 2015.

[IC-10] F. Ficuciello, A. Romano, L. Villani, B. Siciliano, Cartesian Impedance Control of Redundant Manipulators for Human-Robot Co-Manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, 14–18 September, 2014, pp. 2120-2125, doi: 10.1109/IROS.2014.6942847.

[IC-9] G. Palli, F. Ficuciello, U. Scarcia, C. Melchiorri, B. Siciliano, Experimental Evaluation of Synergy-Based In-Hand Manipulation, IFAC World Congress, Cape Town, South Africa, 24-29 August, 2014, pp. 299-304, doi: 10.3182/20140824-6-ZA-1003.00784.

[IC-8] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano. A Model-based Strategy for Mapping Human Grasps to Robotic Hands Using Synergies, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 9-12 July, 2013, pp. 1737-1742, doi: 10.1109/AIM.2013.6584348.

[IC-7] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, A model-based strategy for transferring human hand synergies: Experimental validation on the DEXMART hand, IEEE International Conference on Robotics and Automation, Workshop on Hand Synergies — How to Tame the Complexity of Grasping, Karlsruhe, Germany, 6-10 May, 2013.

[IC-6] H. Sadeghian, F. Ficuciello, L. Villani, M. Keshmiri, Global Impedance Control of Dual-Arm Manipulation for safe Human-Robot Interaction, 10th International IFAC Symposium on Robot Control, Dubrovnik, Croatia, 5-7 September, 2012, pp. 767-772, doi: 10.3182/20120905-3-HR-2030.00154.

[IC-5] F. Ficuciello, L. Villani, Compliant Hand-Arm Control with Soft Fingers and Force Sensing for Human-Robot Interaction, IEEE International Conference on Biomedical Robotics and Biomechatronics, Roma, Italy, 24-27 June, 2012, pp. 1961-1966, doi: 10.1109/BioRob.2012.6290863.

[IC-4] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, Planning and control during reach to grasp using the three predominant UB Hand IV postural synergies, IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, 14-18 May, 2012, pp. 2255-2260, doi: 10.1109/ICRA.2012.6224922.

[IC-3] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, Experimental evaluation of postural synergies during reach to grasp with the UB Hand IV, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, 25-30 September, 2011, pp. 1775–1780, doi: 10.1109/IROS.2011.6094671.

[IC-2] F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, Experimental evaluation of the UB Hand IV postural synergies, IEEE International Conference on Robotics and Automation, Workshop on Autonomous Grasping, Shanghai, China, 9-13 May, 2011.

[IC-1] F. Ficuciello, R. Carloni, L.C. Visser, S.Stramigioli, Port-Hamiltonian modeling for soft-finger manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 18-22 October, pp. 4281–4286, 2010, doi: 10.1109/IROS.2010.5650866.

National conference papers

[NC-5] F. Ficuciello, Synergies and Underactuation: Learning and Control Strategies for Anthropomorphic Hands, Convegno Annuale dei docenti e ricercatori italiani in AUTOMATICA, Roma, Italy, 5-7 September, 2016.

[NC-4] F. Fazioli, F. Ficuciello, G.A. Fontanelli, L. Villani, B. Siciliano, Soft-rigid collision algorithm for surgery realistic simulation in an open-source engine, V Congresso del Gruppo Nazionale di Bioingegneria (GNB), Naples, Italy, 20-22 June 2016.

[NC-3] F. Ficuciello, D. Zaccara, B. Siciliano, Artificial Neural Network for Grasp Learning in a Synergy-based Framework, V Congresso del Gruppo Nazionale di Bioingegneria (GNB), Naples, Italy, 20-22 June 2016.

[NC-2] F. Ficuciello, L. Villani, B. Siciliano, The role of Redundancy Resolution in Human-Robot Co-Manipulation, Convegno Annuale dei docenti e ricercatori italiani in AUTOMATICA, Bergamo, Italy, 8-10 September, 2014.

[NC-1] S. Di Martino, F. Ferrucci, F. Ficuciello, V. Lippiello, A virtual reality-based haptic simulator for rehabilitation, Workshop on Multimodal Interaction Through Haptic Feedback, Napoli, May 2008.

Other contributions (not refereed)

F. Ficuciello, V. Lippiello, F. Ruggiero, B. Siciliano, L. Villani, Grasping and control of multifingered hands, International Expert Days organized by Schunk, Hause, 2012.

L. Villani, V. Lippiello, F. Ruggiero, F. Ficuciello, B. Siciliano, G. Palli, Grasping and control of multifingered hands, 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, 26-28 October, 2011.

F. Ficuciello, Kinematic Patterns of the first three Postural Synergies of UB Hand IV, 1th Convegno PRISMA, Forio d’Ischia, 2-4 June, 2011.

F. Ficuciello, V. Lippiello, F. RUGGIERO, B. Siciliano, L. Villani, Grasping unknown objects with robotics hands using vision and touch, Italian National Meeting SIDRA, Siracusa, Italy, 17-19 September, 2009.
PRISMA Lab - DIETI
(Dipartimento di Ingegneria Elettrica e
delle Tecnologie dell'Informazione)
Universitŕ degli Studi di Napoli Federico II
via Claudio, 21, 80125 Napoli, Italy
Tel. +39 081 7683916
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E-mail: fanny.ficuciello (at) unina.it
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Skype: fficuciello

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Ph.D. Eng. Fanny FICUCIELLO