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Merge pull request #8 from idra-lab/hugoblox-import-publications
Hugo Blox Builder - Import latest publications
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‎content/publication/beber-2024-elasticity/cite.bib‎

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@inproceedings{beber2024elasticity,
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author = {Beber, Luca and Lamon, Edoardo and Palopoli, Luigi and Fambri, Luca and Saveriano, Matteo and Fontanelli, Daniele},
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booktitle = {2024 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)},
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doi = {10.1109/I2MTC60896.2024.10561214},
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keywords = {Biomedical equipment;Accuracy;Ultrasonic imaging;Ultrasonic variables measurement;Shape;Force;Estimation},
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number = {},
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pages = {1-6},
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title = {Elasticity Measurements of Expanded Foams Using a Collaborative Robotic Arm},
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volume = {},
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year = {2024}
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}

‎content/publication/beber-2024-elasticity/index.md‎

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---
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title: Elasticity Measurements of Expanded Foams Using a Collaborative Robotic Arm
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authors:
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- Luca Beber
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- Edoardo Lamon
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- Luigi Palopoli
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- Luca Fambri
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- Matteo Saveriano
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- Daniele Fontanelli
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date: '2024-01-01'
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publishDate: '2026-02-10T16:56:54.813039Z'
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publication_types:
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- paper-conference
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publication: '*2024 IEEE International Instrumentation and Measurement Technology
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Conference (I2MTC)*'
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doi: 10.1109/I2MTC60896.2024.10561214
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tags:
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- Biomedical equipment;Accuracy;Ultrasonic imaging;Ultrasonic variables measurement;Shape;Force;Estimation
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---

‎content/publication/beber-2024-passive/cite.bib‎

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@inproceedings{beber2024passive,
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author = {Beber, Luca and Lamon, Edoardo and Nardi, Davide and Fontanelli, Daniele and Saveriano, Matteo and Palopoli, Luigi},
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booktitle = {2024 IEEE International Conference on Robotics and Automation (ICRA)},
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doi = {10.1109/ICRA57147.2024.10610167},
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keywords = {Torso;Parameter estimation;Tracking;Telemedicine;Ultrasonography;Safety;Impedance},
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number = {},
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pages = {1298-1304},
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title = {A Passive Variable Impedance Control Strategy with Viscoelastic Parameters Estimation of Soft Tissues for Safe Ultrasonography},
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volume = {},
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year = {2024}
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}

‎content/publication/beber-2024-passive/index.md‎

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---
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title: A Passive Variable Impedance Control Strategy with Viscoelastic Parameters
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Estimation of Soft Tissues for Safe Ultrasonography
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authors:
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- Luca Beber
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- Edoardo Lamon
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- Davide Nardi
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- Daniele Fontanelli
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- Matteo Saveriano
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- Luigi Palopoli
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date: '2024-01-01'
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publishDate: '2026-02-10T16:56:54.803634Z'
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publication_types:
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- paper-conference
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publication: '*2024 IEEE International Conference on Robotics and Automation (ICRA)*'
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doi: 10.1109/ICRA57147.2024.10610167
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tags:
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- Torso;Parameter estimation;Tracking;Telemedicine;Ultrasonography;Safety;Impedance
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---

‎content/publication/beber-2024-towards/cite.bib‎

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@inproceedings{beber2024towards,
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author = {Beber, Luca and Lamon, Edoardo and Moretti, Giacomo and Fontanelli, Daniele and Saveriano, Matteo and Palopoli, Luigi},
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booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
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doi = {10.1109/IROS58592.2024.10802582},
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keywords = {Dimensionality reduction;Biological system modeling;Heuristic algorithms;Biological tissues;Estimation;Collaboration;Robot sensing systems;Information filters;End effectors;Kalman filters},
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number = {},
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pages = {2380-2386},
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title = {Towards Robotised Palpation for Cancer Detection through Online Tissue Viscoelastic Characterisation with a Collaborative Robotic Arm},
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volume = {},
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year = {2024}
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}

‎content/publication/beber-2024-towards/index.md‎

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---
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title: Towards Robotised Palpation for Cancer Detection through Online Tissue Viscoelastic
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Characterisation with a Collaborative Robotic Arm
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authors:
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- Luca Beber
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- Edoardo Lamon
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- Giacomo Moretti
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- Daniele Fontanelli
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- Matteo Saveriano
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- Luigi Palopoli
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date: '2024-01-01'
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publishDate: '2026-02-10T16:56:54.832330Z'
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publication_types:
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- paper-conference
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publication: '*2024 IEEE/RSJ International Conference on Intelligent Robots and Systems
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(IROS)*'
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doi: 10.1109/IROS58592.2024.10802582
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tags:
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- Dimensionality reduction;Biological system modeling;Heuristic algorithms;Biological
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tissues;Estimation;Collaboration;Robot sensing systems;Information filters;End effectors;Kalman
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filters
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---

‎content/publication/beber-2025-force/cite.bib‎

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@article{beber2025force,
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author = {Beber, Luca and Lamon, Edoardo and Moretti, Giacomo and Saveriano, Matteo and Fambri, Luca and Palopoli, Luigi and Fontanelli, Daniele},
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doi = {10.1109/TIM.2025.3581663},
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journal = {IEEE Transactions on Instrumentation and Measurement},
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keywords = {Robots;Springs;Estimation;Force;Viscosity;Robot sensing systems;Elasticity;Ultrasonic imaging;Accuracy;Ultrasonic variables measurement;Biomechanical characterization;dimensionality reduction (DR);viscoelastic estimation},
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number = {},
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pages = {1-14},
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title = {Force-Based Viscosity and Elasticity Measurements for Material Biomechanical Characterization With a Collaborative Robotic Arm},
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volume = {74},
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year = {2025}
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}

‎content/publication/beber-2025-force/index.md‎

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---
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title: Force-Based Viscosity and Elasticity Measurements for Material Biomechanical
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Characterization With a Collaborative Robotic Arm
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authors:
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- Luca Beber
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- Edoardo Lamon
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- Giacomo Moretti
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- Matteo Saveriano
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- Luca Fambri
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- Luigi Palopoli
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- Daniele Fontanelli
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date: '2025-01-01'
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publishDate: '2026-02-10T16:56:54.819516Z'
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publication_types:
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- article-journal
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publication: '*IEEE Transactions on Instrumentation and Measurement*'
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doi: 10.1109/TIM.2025.3581663
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tags:
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- Robots;Springs;Estimation;Force;Viscosity;Robot sensing systems;Elasticity;Ultrasonic
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imaging;Accuracy;Ultrasonic variables measurement;Biomechanical characterization;dimensionality
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reduction (DR);viscoelastic estimation
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---

‎content/publication/bertollo-2025-hybrid/cite.bib‎

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@article{bertollo2025hybrid,
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abstract = {We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept similar to reference spreading, we define nontrivial tracking error coordinates induced by our hybrid model. These coordinates enjoy desirable linear flow dynamics and rather elegant jump dynamics perturbed by a suitable extended class K∞ function of the position error. We stabilize this hybrid error dynamics using a saturated feedback controller, selecting its gains by solving a convex optimization problem. We prove local asymptotic stability of the tracking error and provide a certified estimate of the basin of attraction, comparing it with a numerical estimate obtained from the integration of the closed-loop dynamics. Simulations on a full-body model of a real robot show the practical applicability of the proposed framework and its advantages with respect to a standard model predictive control formulation.},
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author = {Riccardo Bertollo and Gianni Lunardi and Andrea Del Prete and Luca Zaccarian},
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doi = {https://doi.org/10.1016/j.automatica.2024.112106},
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issn = {0005-1098},
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journal = {Automatica},
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keywords = {Hybrid dynamical systems, Bipedal locomotion, Reference spreading, Convex optimization},
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pages = {112106},
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title = {Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading},
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url = {https://www.sciencedirect.com/science/article/pii/S0005109824005995},
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volume = {174},
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year = {2025}
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}

‎content/publication/bertollo-2025-hybrid/index.md‎

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---
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title: Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on
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reference spreading
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authors:
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- Riccardo Bertollo
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- Gianni Lunardi
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- Andrea Del Prete
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- Luca Zaccarian
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date: '2025-01-01'
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publishDate: '2026-02-10T16:56:54.907287Z'
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publication_types:
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- article-journal
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publication: '*Automatica*'
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doi: https://doi.org/10.1016/j.automatica.2024.112106
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abstract: We propose a hybrid formulation of the linear inverted pendulum model for
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bipedal locomotion, where the foot switches are triggered based on the center of
17+
mass position, removing the need for pre-defined footstep timings. Using a concept
18+
similar to reference spreading, we define nontrivial tracking error coordinates
19+
induced by our hybrid model. These coordinates enjoy desirable linear flow dynamics
20+
and rather elegant jump dynamics perturbed by a suitable extended class K∞ function
21+
of the position error. We stabilize this hybrid error dynamics using a saturated
22+
feedback controller, selecting its gains by solving a convex optimization problem.
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We prove local asymptotic stability of the tracking error and provide a certified
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estimate of the basin of attraction, comparing it with a numerical estimate obtained
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from the integration of the closed-loop dynamics. Simulations on a full-body model
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of a real robot show the practical applicability of the proposed framework and its
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advantages with respect to a standard model predictive control formulation.
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tags:
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- Hybrid dynamical systems
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- Bipedal locomotion
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- Reference spreading
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- Convex optimization
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links:
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- name: URL
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url: https://www.sciencedirect.com/science/article/pii/S0005109824005995
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---

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