Publications - Prof. Giorgio Cannata July 2020

1 International Journals

[J1] ALBINI, A., CANNATA, G., “Pressure distribution classification and segmentation of human hands in contact with the robot body”, International Journal of Robotics Research, vol. 39, n. 6, pp. 668-687, 2020.

[J2] LUGO, J.H., CANNATA, G., ZOPPI, M., MOLFINO, R., “Modeling and simulation of a biphasic media variable stiffness actuator”, International Journal of Mechanical Engineering and Robotics Research, vol. 9, n. 1, pp. 7-12, 2020.

[J3] TAHIR, A.M., JILICH, M., TRINH, D.C., CANNATA, G., BARBERIS, F., ZOPPI, M., “Architecture and design of a robotic mastication simulator for interactive load testing of dental implants and the mandible”, Journal of Prosthetic Dentistry, vol. 122, n. 4, 2019.

[J4] MUSCOLO, G.G., MORETTI, G., CANNATA, G., ”SUAS: A Novel Soft Underwater Artificial Skin with Capacitive Transducers and Hyperelastic Membrane”, 2019, Robotica, vol. 37, n. 4, pp. 756-777.

[J5] WASKO, W., ALBINI, A., MAIOLINO, P., MASTROGIOVANNI, F., CANNATA, G., “Contact modelling and tactile data processing for robot skins”, 2019, Sensors (Switzerland), vol. 19, n. 4.

[J6] DENEI, S., MAIOLINO, P., BAGLINI, E., CANNATA, G., “Development of an Integrated Tactile Sensor System for Clothes Manipulation and Classification Using Industrial Grippers”, 2017, IEEE Sensors Journal, vol. 17, n. 19, pp. 6385-6396.

[J7] CASALINO, G., CACCIA, M., CASELLI, S., MELCHIORRI, C., ANTONELLI, G., CAITI, A., INDIVERI, G., CANNATA, G., SIMETTI, E., TORELLI, S., SPERINDÈ, A., WANDERLINGH, F., MUSCOLO, G., BIBULI, M., BRUZZONE, G., ZEREIK, E., ODETTI, A., SPIRANDELLI, E., RANIERI, A., ALEOTTI, J., RIZZINI, D.L., OLEARI, F., KALLASI, F., PALLI, G., SCARCIA, U., MORIELLO, L., CATALDI, E. Underwater intervention robotics: An outline of the Italian national project Maris (2016) Marine Technology Society Journal, 50 (4), pp. 98-107.

[J8] LE, T.-H.-L., MAIOLINO, P., MASTROGIOVANNI, F., CANNATA, G. Skinning a robot: Design methodologies for large-scale robot skin (2016) IEEE Robotics and Automation Magazine, 23 (4), art. no. 7585062, pp. 150-159.

[J9] YOUSSEFI, S., DENEI, S., MASTROGIOVANNI, F., CANNATA, G. Skinware 2.0: A real-time middleware for robot skin (2015) SoftwareX, 3-4, pp. 6-12.

[J10] P. MAIOLINO, F. GALANTINI, F. MASTROGIOVANNI, G. GALLONE, G. CANNATA, F. CARPI, “Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types”, Sensors and Actuators A: Physical, Volume 226, 1 May 2015, Pages 37-47, http://dx.doi.org/10.1016/j.sna.2015.02.010.

[J11] S. YOUSSEFI, S. DENEI, F. MASTROGIOVANNI, G. CANNATA, “A real-time data acquisition and processing framework for large-scale robot skin”, Robotics and Autonomous Systems (Elsevier), Available online 9 February 2015, http://dx.doi.org/10.1016/j.robot.2015.01.009.

[J12] D. ANGHINOLFI, G. CANNATA, F. MASTROGIOVANNI, C. NATTERO, M. PAOLUCCI “Application and Experimental Validation of Pheromone Design in Ant Colony Optimization: the Problem of Robot Skin Wiring”, Applied Artificial Intelligence, Vol. 28, Iss. 3, 2014

[J13] S. DENEI, F. MASTROGIOVANNI, G. CANNATA, Towards the creation of tactile maps for robots and their use in robot contact motion control, Robotics and Autonomous Systems, Available online 2 October 2014, ISSN 0921-8890, http://dx.doi.org/10.1016/j.robot.2014.09.011.

[J14] LOI, A.; BASIRICO, L.; COSSEDDU, P.; LAI, S.; BARBARO, M.; BONFIGLIO, A.; MAIOLINO, P.; BAGLINI, E.; DENEI, S.; MASTROGIOVANNI, F.; CANNATA, G., "Organic Bendable and Stretchable Field Effect Devices for Sensing Applications," Sensors Journal, IEEE , vol.13, no.12, pp.4764,4772, Dec. 2013. doi: 10.1109/JSEN.2013.2273173

[J15] MAIOLINO, P.; MAGGIALI, M.; CANNATA, G.; METTA, G.; NATALE, L., "A Flexible and Robust Large Scale Capacitive Tactile System for Robots," IEEE Sensors Journal, vol.13, no.10, pp.3910,3917, Oct. 2013 doi: 10.1109/JSEN.2013.2258149.

[J16] ANGHINOLFI, D.; CANNATA, G.; MASTROGIOVANNI, F.; NATTERO, C.; PAOLUCCI, M., "On the Problem of the Automated Design of Large-Scale Robot Skin,", IEEE Transactions on Automation Science and Engineering, vol.10, no.4, pp.1087,1100, Oct. 2013, doi: 10.1109/TASE.2013.2252617.

[J17] D. ANGHINOLFI, G. CANNATA, F. MASTROGIOVANNI, C. NATTERO, M. PAOLUCCI, “A heuristic approach for the optimal wiring in large scale robotic skin design”, Computers & Operations Research, Elsevier, 2012 (Available online 16 February 2012).

[J18] L. SEMINARA, M. CAPURRO, P. CIRILLO, G. CANNATA, M. VALLE, “Electromechanical characterization of piezoelectric PVDF polymer films for tactile sensors in robotics applications”, Sens. Actuators A: Phys. (2011), doi:10.1016/j.sna.2011.05.004.

[J19] A. SCHMITZ, P. MAIOLINO, M. MAGGIALI, L. NATALE, G. CANNATA, G. METTA, "Methods and Technologies for the Implementation of Large Scale Robot Tactile Sensors", IEEE Trans. On Robotics - Special Issue on Robot Sense of Touch (G. Cannata, R. Dahiya, G. Metta, M. Valle eds.), vol. 27, n. 3, Jun. 2011.

[J20] G. CANNATA and A. SGORBISSA, “A Minimalist Algorithm for Multi-Robot Continuous Coverage”, IEEE Trans. on Robotics, 2010.

[J21] CANNATA G., MAGGIALI M., “Models for the Design of Bioinspired Robot Eyes”, IEEE Trans. on Robotics, Feb. 2008, pp. 27-44.

[J22] AICARDI M., CANNATA G., CASALINO G., INDIVERI G., “Cusp-free, Time Invariant, 3D Feedback Control Law for a Non-holonomic Floating Robot”, Int. Journal of Robotic Research, Apr. 2001. pp. 300-311.

[J23] BALESTRINO A., CANNATA G., “The Inversion of Matrices and Matrix Functions as a Non Linear Discrete System: Stability and Sensitivity Analysis”, IEE Proc. Control Theory and Applications, vol. 148, n. 1, Jan. 2001, pp. 43-48.

[J24] AICARDI M, CANNATA G., CASALINO G., “Attitude Feedback Control: Unconstrained and Nonholonomic Constrained Cases”, Journal of Guidance, Control and Dynamics, vol. 23, n. 4, Jul 2000, 657-664.

[J25] CANNATA G., GROSSO E.: "On Perceptual Advantages of Active Robot Vision", Journal of Robotic Systems, vol 16, n.3, 1999, pp. 163-183.

[J26] ANGELETTI D., CANNATA G., CASALINO G.: "The Control Architecture of the AMADEUS Gripper” International Journal of Systems Science, vol 29, n. 5, 1998, pp. 485-496.

[J27] D. LANE, CANNATA G. et al.: “AMADEUS: Advanced Manipulation for Deep Underwater Sampling”, Robotics and Automation Magazine, Dec. 1997.

[J28] AICARDI M., CANNATA G., CASALINO G.: "Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems", Int. Journal of Robotic Research, August 1996.

[J29] CAITI A., CANNATA G.:"Stabilization of Spectral Methods for the Analysis of Singular Systems Using Piecewise Constant Basis Functions", Circuit Systems and Signal Processing, June 1993.

[J30] AICARDI M., CANNATA G., CASALINO G.: "Hybrid Learning Control for Constrained Manipulators", Advanced Robotics", vol. 6 n. 1, pp. 69-94, maggio 1992.

[J31] CAITI A, CANNATA G.: "Spectral Methods for the Solution of Linear Descriptor Systems Using Fourier Functions", Circuit Systems and Signal Processing, August 1992.

[J32] CAITI A., CANNATA G.: "Comments on the Properties of the Operational Matrices of Integration and Differentiation for Fourier Trigonometric Functions", IEEE Trans. on Automatic control, AC 3, vol. 38, n. 4, aprile 1993, pp. 667-671.

2 Editorials as Guest Editor

[G1] F. MASTROGIOVANNI, L. NATALE, G. CANNATA, G. METTA (Guest Editors), Special issue on advances in tactile sensing and tactile-based human–robot interaction, Robotics and Autonomous Systems, Available online 12 November 2014, ISSN 0921-8890, http://dx.doi.org/10.1016/j.robot.2014.11.002.

[G2] G. CANNATA, R. DAHIYA, G. METTA, M. VALLE (Guest Editors) Special Special Issue on Robotic Sense of Touch. IEEE Transactions on Robotics, vol. 27, n. 3, Jun. 2011.

[G3] G. CHENG, G. METTA, G. CANNATA, G. SANDINI (Guest Editors) Special Issue on Humanoid Technologies “Know-How”. Robotics and Autonomous Systems, vol. 56, n. 1-31, Jan. 2008.

3 Book Chapters

[B1] D. ANGHINOLFI, G. CANNATA, F. MASTROGIOVANNI, C. NATTERO, M. PAOLUCCI, “Experimental Evaluation of Pheromone Structures for Ant Colony Optimization: Application to the Robot Skin Wiring Problem”, Recent Advances in Computational Optimization (Stefka Fidanova Ed.). Studies in Computational Intelligence Volume 470, 2013, pp 93-114.

[B2] Aude BILLARD, Annalisa BONFIGLIO, Giorgio CANNATA, Piero COSSEDDU, Torbjorn DAHL, Kerstin DAUTENHAHN, Fulvio MASTROGIOVANNI, Giorgio METTA, Lorenzo NATALE, Ben ROBINS, Lucia SEMINARA, Maurizio VALLE “The ROBOSKIN Project: Challenges and Results”, Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences Volume 544, 2013, pp 351-358.

[B3] G. CANNATA, A. SGORBISSA, “A Distributed, Real-Time Approach to Multi Robot Uniform Frequency Coverage “in Distributed Autonomous Robotic Systems (Martinoli A., Mondada F., Correll N., Mermoud G., Egerstedt M., Hsieh, M., Parker L., Støy K. eds.), Springer Tracts in

Advanced Robotics, vol. 83. Springer Berlin Heidelberg, 2013, isbn 978-3-642-32722-3, http://dx.doi.org/10.1007/978-3-642-32723-0_2.

[B4] P. MAIOLINO, A. ASCIA, M. MAGGIALI, L. NATALE, G. CANNATA AND G. METTA, “Large Scale Capacitive Skin for Robots”, in Smart Actuation and Sensing Systems - Recent Advances and Future Challenges (G. Berselli, R. Vertechy and G. Vassura eds.). InTech, Published: October 17, 2012. ISBN: 978-953-51-0798-9

[B5] M. BAGLIETTO, G. CANNATA, F. CAPEZIO, A. GROSSO, A. SGORBISSA, R. ZACCARIA “PatrolGRAPH: a Distributed Algorithm for Multi-Robot Patrolling”, in Intelligent Autonomous Systems 10 – IAS-10 (Edited by Wolfram Burgard, Rüdiger Dillmann, Christian Plagemann, Nikolaus Vahrenkamp) DOI: 10.3233/978-1-58603-887-8-415.

[B6] L. SEMINARA, M. VALLE, M. CAPURRO, P. CIRILLO and G. CANNATA, “Piezoelectric Polymer Films for Tactile Sensors”, in Sensors and Microsystems Lecture Notes in Electrical Engineering, 2012, Volume 109, Part 3, Springer Verlag, 169-173, DOI: 10.1007/978-1-4614-0935-9_29.

[B7] CANNATA G, MAGGIALI M., “Design of a Tactile Sensor for Robot Hands”, in Sensors Focus on Tactile, Force and Stress Sensors, I-Tech Education and Publishing Vienna, Austria. Oct. 2008.

[B8] CANNATA G, MAGGIALI M., “Design of a Humanoid Robot Eye”, in Humanoid Robots (A. C. Dr Pina Filho ed.). ARS Int., Vienna (Austria), June 2007. ISBN 978-3-902613-00-4.

[B9] CASALINO G., ANGELETTI D, BOZZO T., CANNATA G.: “Strategies for Control and Coordination within Multiarm Systems”, in “RAMSETE Articulated and Mobile Robotics for Services and Technology” (S. Nicosia, B. Siciliano, A. Bicchi eds.). Lecture Notes in Control and Information Sciences. Vol 270. Springer Verlag, 2000. ISBN 978-3-540-42090-3.

[B10] CANNATA G., CASALINO G., PAGANO P.: “Computational Models for the Simulation of Contact Phenomena in Multibody Systems”, in Proc. Workshop Modelling and Control of Mechanical Systems (A. Astolfi et al. Eds.). Imperial College Press. June 1997.

[B11] CASALINO G., AICARDI M. CANNATA G.: "Recent Advances in Grasp Planning Task Representation and Learning Hybrid Control for Dexterous Manipulation", in "Robotics and Manufacturing Systems", T. Takamori and K. Tsuchiya (editors). Elsevier Science Publishers B.V. (North-Holland), 1993, pp. 359-366.

[B12] BARTOLINI G., CAITI A., CANNATA G., ROSSI C.: "Simulation of Descriptor Systems: an Application. The Numerical Solution of Inverse Problems", in "Modelling the Innovation", M. Carnevale, M. Lucertini, S. Nicosia (Editors). Elsevier Science Publishers B.V. (North-Holland), 1990, pp. 411-417.

4 Patents

[P1] M. MAGGIALI, G. CANNATA, G. METTA, G. SANDINI, “Tactile Sensor Arrangement and Corresponding Sensory System ”, domanda di brevetto n. TO2007A000779 depositata il giorno 5/11/2007. Publication nr. EP2219828, publication date 2010-08-25. Deposito in USA, Canada, Giappone, Corea del Sud, Europa.

[P2] M. Baglietto, G. Cannata, F. Capezio, A. Grosso, F. Sgorbissa, “System for guiding self-propelled apparatus and method therefor”, domanda di brevetto GE2009A000026 depositata il giorno 28/04/2009. Publication nr. EP2246764, publication date 2010-11-03. Deposito in Europa.

5 Intellectual Property

[I1] G. CANNATA, C. LEONE, M. NARIZZANO, M. PAOLUCCI, “Sistema Software Moon-Monteore OnLine”, Società Italiana degli Autori ed Editori S.I.A.E, 10 giugno 2010.

6 Proceedings of International Conferences/ Workshops/Symposia

[C1] CAITI A., CANNATA G., BARTOLINI G., CASALINO G.: "Modelling and Simulation of Constrained Robots: a DAE Approach", 17th IASTED International Symposium on Simulation and Modelling, Lugano, 19-22 giugno 1989.

[C2] BARTOLINI G., CAITI A., CANNATA G.: "Descriptor Systems Simulation for the Solution of Inverse Problems", International AMSE Conference "Signals & Systems", Brighton (U.K.) 12-14 luglio 1989, pp. 83-92.

[C3] ARMANDO A., CAITI A., CANNATA G., CIMATTI A., CASALINO G., BARTOLINI G.: "Computer Aided Modelling and Simulation of Complex Mechanical Systems", Low Cost Automation Symposium, Milano, 8-10 novembre 1989, pp. 253-260.

[C4] AICARDI M., CANNATA G., CASALINO G.: "Application of Learning Techniques in the Hybrid Control of Mechanical Manipulators", IEEE Int. Workshop on "Intelligent Motion Control", Istanbul, 20-22 agosto 1990, pp. 137-145.

[C5] BARTOLINI G., BRENCO M., CANNATA G., CASALINO G., GARIBOTTO G., SANDINI G.: "Advanced Simulation and Control Techniques of Underwater Robots", IARP 1st Workshop on Mobile Robots for Subsea Environments, Monterey, CA, USA, 23-26 ottobre 1990, pp. 163-169.

[C6] CAITI A., CANNATA G.: "Regularization Techniques for the Analysis of Singular Dynamic Systems", 29th IEEE Conference on Decision & Control, Honolulu (Hawai), 5-7 dicembre 1990, pp. 3603-3606.

[C7] CAITI A., CANNATA G., CASALINO G.: "Implementation of Learning Control Techniques using Descriptor Systems Methods", 1991 IEEE International Conference on Robotics and Automation, Sacramento (California), 7-12 aprile 1991, pp. 1451-1456.

[C8] AICARDI M., CANNATA G., CASALINO G.: "A Learning Procedure for Position and Force Control of Constrained Manipulators", 5th International Conference on Advanced Robotics, Pisa, 20-22 giugno 1991.

[C9] CAITI A., CANNATA G., CASALINO G., GERMANO G.: "Experimental Experience on Iterative Learning Control Implemented on a Prototypal Manipulator", 5th International Conference on Advanced Robotics, Pisa, 20-22 giugno 1991.

[C10] CAITI A., CANNATA G., FABBRI P.: "Stability of Spectral Methods for the Solution of Descriptor Systems Using Fourier Functions", 2nd International Symposium on Implicit and Robust Systems Warsaw University of Technology, Varsavia (Polonia), 17-19 luglio 1991, pp. 51-54.

[C11] CAITI A., CANNATA G.: "On the Stability of Spectral Methods for the Numerical Solution of Descriptor Systems", 13th IMACS World Congress on Computation and Applied Mathematics, Dublino (Irlanda), 22-26 luglio 1991.

[C12] BONO R., CANNATA G., CORRADI F., VERUGGIO G.: "Development of Control and Communication Systems for Virtual AUV's", 7th International Symposium on Unmanned Untethered Submersible Technology, Durham (New Hampshire), 23-25 settembre 1991, pp. 28-39.

[C13] CAITI A., CANNATA G.: "On the Convergence of Spectral Methods for the Solution of Linear Descriptor Systems", The 30th IEEE Conference on Decision and Control, Brighton (Inghilterra), 11-13 dicembre 1991.

[C14] BONO R., CANNATA G., CORRADI F., VERUGGIO G.: "A Distributed Architecture for Telecontrolled Underwater Operation", IFAC CAMS' 92, Genova, 8-10 aprile 1992, pp. 351-358.

[C15] AICARDI M., CANNATA G., CASALINO G.: "Grasp Force Planning for the Coordinated Manipulation of Rigid Objects", IEEE International Conference on Robotics and Automation, Nizza (Francia), 10-15 maggio 1992, pp. 1525-1530.

[C16] BAIARDI P., CASALINO G., BONO R., CANNATA G., VERUGGIO G.: "Dynamic Simulation Tools for the Analysis and Design of AUV's", Symposium on Autonomous Underwater Vehicles Technology, Washington (USA), 2-3 giugno 1992, pp. 105-108.

[C17] AICARDI M., CANNATA G., CASALINO G.: "Contact Forces Decomposition for the Grasping of Rigid Objects", IROS '92, Raleigh (USA), 7-10 luglio 1992, pp. 1635-1641.

[C18] BAIARDI P., CANNATA G., CASALINO G., P. Pagano: "Modelling Interaction Phenomena Within the Simulation of Complex Robotic Structures", IARP 4th workshop on Underwater Robotics, Genova, 4-5 novembre 1992.

[C19] CAITI A., CANNATA G.: "A Hybrid Position/Force Control Scheme for Constrained Robots", International Symposium on Implicit and Non-linear Systems, Fort Worth (USA), 14-15 dicembre 1992, pp. 35-38.

[C20] CAITI A., CANNATA G.: "Right Inversion of Linear Systems with Optimal Control Constraints and Descriptor Modeling", 31st IEEE Conference on Decision and Control, Tucson (USA), 16-18 dicembre 1992, vol. 1, pp. 973-974.

[C21] AICARDI M., CANNATA G., CASALINO G.: "Hybrid Learning Control Techniques for the Manipulation of Rigid Objects", IEEE Conference on Robotics & Automation, Atlanta, maggio 1993, pp. 1/672-1/677.

[C22] BAIARDI P., CANNATA G., CASALINO G., PAGANO P.: "Modelling Contact Phenomena Within the Dynamic Simulation of Advanced Robotic Structures", IEEE Conference on Robotics & Automation, Atlanta, maggio 1993, pp. 3/193-3/203.

[C23] AICARDI M., CANNATA G., CASALINO G.: "Dexterous Manipulation of Rigid Objects Using Learning Hybrid Control Techniques", IFAC World Congress, Sidney, July 1993.

[C24] CAITI A., CANNATA G, MAGUER A.: "Dynamic Inversion with Singular Implicit Models: An Adaptive Algorithm for Marine Seismic Deconvolution", Proc. 32nd IEEE Conf. on Decision and Control, San Antonio, Tx, December 1993.

[C25] CAITI A, CANNATA G.:"Coordinate Transformation and On-Line Planning for Position/Force Control of Constrained Robots", 1994 IEEE Conference on Robotics and Automation, San Diego, Ca, 1994.

[C26] AICARDI M., CANNATA G., CASALINO G.:"Detaching Phenomena in the Learning Control of Manipulation of Rigid Objects", 1994 IFAC Symposium on Robot Control, Capri, Italy, September 1994.

[C27] CANNATA G., GROSSO E.:"Active Eye-Head Control", 1994 IEEE Conference on Robotics and Automation, San Diego, Ca, 1994.

[C28] CAITI A., CANNATA G.:"Hybrid Position/Force Control of Constrained Manipulators in Presence of Uncertainties", 1994 IFAC Symposium on Robot Control, Capri, Italy, September 1994.

[C29] BAIARDI P., CANNATA G., et al.: "Computational Architectures for the Control of Underwater Robots", 1994 IEEE OCEANS Conf., Brest, France, September 1994.

[C30] CAITI A., CANNATA G.: "Deconvolution of Marine Seismic Signals: an Adaptive Algorithm Based on Implicit Systems Modelling and Higher Order Statistics", 1994 IEEE OCEANS Conf., Brest, France, September 1994.

[C31] AICARDI M., CAITI A., CANNATA G., CASALINO G.: "Stability and Robustness Analysis of a Two Layered Hierarchical Architecture for the Closed Loop Control of Robots in the Operational Space", 1995 IEEE Conference on Robotics and Automation, Nagoya, Japan, 1995.

[C32] AICARDI M., CAITI A., CANNATA G., CASALINO G., GAMBARDELLA L.: "Manipulators Trajectory Tracking with Reduced Order Velocity Observers", 1995 IEEE Conference on Robotics and Automation, Nagoya, Japan, 1995.

[C33] AICARDI M., CANNATA G., CASALINO G.: "A Hierarchical Control Architecture for the Control of Underwater Robots", Proc. IFAC workshop CAMS '95, Trondheim, Norway, May 1995.

[C34] CANNATA G., CASALINO G., GROSSO E.: "Co-ordinated Motion Control of a Head-Eye System", Proc. 7th Int. Conference on Advanced Robotics ICAR '95, St Feliu de Guixols, Spain, September 20-22, 1995.

[C35] AICARDI M., CAITI A., CANNATA G., CASALINO G.: "A Reduced Order Velocity Observer for Stable Manipulator Tracking ", Proc. 7th Int. Conference on Advanced Robotics ICAR '95, St Feliu de Guixols, Spain, September 20-22, 1995.

[C36] AICARDI M., CAITI A., CANNATA G., CASALINO G.: "Hierarchical Architecture for the Closed Loop Control of Robots in the Opearational Space: Stability and Robustness Analysis", Proc. 7th Int. Conference on Advanced Robotics ICAR '95, St Feliu de Guixols, Spain, September 20-22, 1995.

[C37] CAITI A., CANNATA G., CASALINO G., RETO S.: "Telemanipulation with Force Reflection: a Case Study in Integral Force Control", Proc. IIA '96, Reading UK, March 26-29, 1996.

[C38] CAITI A., CANNATA G., CASALINO G., RETO S.: "Contact Force Control in Bilateral Manipulation", Proc. 2nd World Automation Congress WAC '96, Montpellier, France, May 27-30, 1996.

[C39] AICARDI M., CANNATA G., CASALINO G.: "Task Level Position Control of Robots, and Static Errors Compensation", Proc. 2nd World Automation Congress WAC '96, Montpellier, France, May 27-30, 1996.

[C40] AICARDI M., CANNATA G., CASALINO G.: "Smooth Attitude Feedback Control with Non-Holonomic Constraints", 35th IEEE CDC Conference, December 1996.

[C41] AICARDI M., CANNATA G., CASALINO G.: "Task Space Robot Control: Convergence Analysis and Gravity Compensation Via Integral Feedback", 35th IEEE CDC Conference, December 1996.

[C42] CAITI A., CANNATA G., CASALINO G., RETO S.: "The Local Force Control Loop Approach in Bilateral Control of Master-Slave Systems", 35th IEEE CDC Conference, December 1996.

[C43] LANE D., CANNATA G. et al.: “AMADEUS: Advanced Manipulation for Deep Underwater Sampling”, IEEE Int Conf. On Robotics and Automation, Albuquerque (NM), April 20-25, 1997.

[C44] CAITI A., CANNATA G., CASALINO G., RETO S., “Teleoperations with Shared Explicit Contact Force”, Int. Symp. On Telemanipulator and Telepresence Technologies IV, Pittsburgh, PA, October 1997.

[C45] D. ANGELETTI, G. CANNATA and G. CASALINO. Task Function Based Control for a Dual Arm Underwater Robotic System. In Proc. 4th Symposium on Methods and Models in Automation and Robotics (MMAR 97), Miedzyzdroje, Poland, August 1997.

[C46] CAFFAZ A., CANNATA G., “The Design and Development of the DIST-Hand Dextrous Gripper”, 1998 IEEE ICRA, Leuven, Belgium, May 1998, pp. 2075-2080.

[C47] CANNATA G., CASALINO G., INDIVERI G. “Analytical Synthesis of Least Curvature 2D Paths for Underwater Applications”, 6th Mediterranean Control Int. Conference, Alghero, Italy, June 1998, pp. 502-506.

[C48] LANE D., CANNATA G., CASALINO G., et al., “Advanced Manipulators for Underwater Applications: The AMADEUS Program”, 6th Mediterranean Control Int. Conference, Alghero, Italy, June 9-11, 1998, pp. 496-501.

[C49] M. AICARDI, G. CASALINO and G. CANNATA. Smoothness of a Feedback Control Law for a Nonholonomic 3D Vehicle. Proceedings of the IFAC Workshop on Motion Control, Grenoble, France, 21-23 September 1998.

[C50] BRUNO A., CANNATA G., CASALINO G., RETO. S.: “Design of a New Tactile Sensor”, Proceedings of 4th ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, Moscow, Russia, August 1998, pp. 300-305.

[C51] CAFFAZ A., CANNATA G., PANIN G., RETO S.: “Towards Fully Sensorized and Controlled Robotic Hand”, Proceedings of 4th ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, Moscow, Russia, August 1998, pp. 446-451.

[C52] T. BOZZO, G. CANNATA, G. CASALINO, A. MAUTONE and S. RETO. “On the Design of Task Level Control Architecture for Complex Robotic Systems”, Proceedings of 4th ECPD International Conference on Advanced Robotics, Intelligent Automation and Active Systems, Moscow, Russia, August 1998, pp. 332-337.

[C53] LANE D., CANNATA G. et al., Advanced Manipulator for Deep Underwater Sampling: The AMADEUS Research Project”, 1998 IEEE Int. Conf. On Control Applications, Trieste, Italy, Sept. 1998, pp. 1068-1073.

[C54] ANGELETTI D., CANNATA G., CASALINO G., et al.: “AMADEUS: Dual-Arm Workcell for Co-ordinated and Dextrous Manipulation”, 1998 IEEE OCEANS Conference, Nice, France, Sept. 1998.

[C55] AICARDI M., CANNATA G., CASALINO G., INDIVERI G.: “Guidance of 3D Underwater Non-Holonomic Vehicle Via Projection on Holonomic Solutions”, 2000 World Automation Congress, 8th Int. Symp. On Robotics with Applications, Maui, Hawaii, June 11-16, 2000.

[C56] AICARDI M., CANNATA G., CASALINO G., INDIVERI G.: “On the Stabilization of the Unicycle Model Projecting a Holonomic Solution”, 2000 World Automation Congress, 8th Int. Symp. On Robotics with Applications, Maui, Hawaii, June 11-16, 2000.

[C57] ANGELETTI D., CANNATA G., CASALINO G., MARANI G.: “On the Functional and Algorithmic Architecture of the AMADEUS Dual arm Robotic Workcell”, 2000 World Automation Congress, 8th Int. Symp. On Robotics with Applications, Maui, Hawaii, June 11-16, 2000.

[C58] A. CAFFAZ, G. CANNATA, G. PANIN, E. MASSUCCO, “The DIST-hand, an anthropomorphic, fully sensorized dextrous gripper “, First IEEE-RAS Int. Conf. on Humanoid Robots, Boston (MA), 2000.

[C59] G. CASALINO, D. ANGELETTI, G. CANNATA, G. MARANI, “Design of Functional and Algorithmic Control Architectures for Multirobot Systems”, Proc. of 6th IFAC Symp. On Robot Control 2000 (SYROCO'00), Vienna, Austria, 21-23 September 2000.

[C60] CANNATA G., CASALINO G., PANIN G., CAFFAZ A.: “On a Two Level Hierarchical Structure for the Dynamic Control of Multifingered Manipulation”, 2001 IEEE ICRA, Seoul, Corea, May 2001, pp. 77-84.

[C61] CANNATA G., BARRECA A., DENTONE L., GIORGI F.: “Design of a Human Like Robotic Arm with Embedded Control Architecture”, Proc. of IEEE Humanoids 2001 Conference, Nov. 22-24 2001, Tokyo, Japan.

[C62] CANNATA G., BARRECA A., DENTONE L., GIORGI F.: “Embedded Control Architecture for a Redundant Robotic Arm”, Proc. 15th Triennial World Congress, Barcelona, Spain, 2002.

[C63] BAGLIETTO M., CANNATA G., SCARDOVI L., ZOPPOLI R., “Optimal Control for Active Identification of Unknown Systems”, Proc. 16th IFAC World Congress, Praha, July 4-8 2005.

[C64] BIAMINO D., CANNATA G., MAGGIALI M., Piazza A., “MAC-EYE: a Tendon Driven Fully Embedded Robot Eye”, Proc. of IEEE Humanoids 2005 Conference, Dec. 5-7 2005, Tsukuba, Japan.

[C65] CANNATA G., MAGGIALI M., “An Embedded Tactile and Force Sensor for Robotic Manipulation and Grasping”, Proc. of IEEE Humanoids 2005 Conference, Dec. 5-7 2005, Tsukuba, Japan.

[C66] CANNATA G., D’ANDREA M., MAGGIALI M., MONTI F., “Implementation of Listing's Law for a Robot Eye”, 8th International IFAC Symposium on Robot Control SYROCO 2006, Bologna (Italy), September 6 - 8, 2006.

[C67] CANNATA G., MAGGIALI M., “Implementation of Listing’s Law for a Tendon Driven Robot Eye”, Proc. 2006 IEEE IEEE/RJS Int. Conf. on Intelligent Robots and Systems IROS 2006, Beijing (China), Oct. 9-15, 2006.

[C68] CANNATA G., D’ANDREA M., MAGGIALI M., “Design of Humanoid Robot Eye: Models and Experiments”, Proc. 6th IEEE-RAS Int. Conf. on Humanoid Robots HUMANOIDS 2006, Genova (Italy), Dec 4-6, 2006.

[C69] CANNATA G., MAGGIALI M., “Processing of Tactile/Force Measurements for a Fully Embedded Sensor”, 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Machines, (MFI 2006), September 3-6, 2006, Heidelberg, Germany.

[C70] CANNATA G., MAGGIALI M., “Processing of an Embedded Tactile Matrix Sensor”, 2006 IEEE International Conference on Robotics and Biomimetics, (ROBIO 2006), December 18-20, 2006, Kunming, China.

[C71] CANNATA G., MAGGIALI M., “Models for the Design of a Tendon Driven Robot Eye”, Proc. IEEE-RAS Int. Conf. on Robotics ICRA 2007, Rome (Italy), Apr. 10-14, 2007.

[C72] BAGLIETTO M., CANNATA G., CAPEZIO F., GROSSO A., SGORBISSA A., and ZACCARIA R. “A Multi-Agent Control Architecture for Large Scale Multirobot Systems”, proc. IASTED Conf. On Modelling Identification and Control, MIC 2008, Innsbruck (Austria), Feb. 11-13, 2008.

[C73] MAGGIALI M., CANNATA G., MAIOLINO P., METTA G., RANDAZZO M., SANDINI G., “Embedded Distributed Capacitive Tactile Sensor”, The 11th Mechatronics Forum Biennial International Conference, Limerick (Ireland), June 23-25, 2008.

[C74] BAGLIETTO M, CANNATA G., CAPEZIO F., GROSSO A., SGORBISSA A., ZACCARIA R., “PatrolGRAPH: a Distributed Algorithm for Multi-Robot Patrolling” Proc. of the 10th International Conference on Intelligent Autonomous Systems, Baden-Baden (D), July 23-25, 2008.

[C75] MAGGIALI M., CANNATA G., METTA G., SANDINI G., “An Embedded Artificial Skin for Humanoid Robots”, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Machines, (MFI 2008), August 20-22, 2008, Seoul (Korea). INVITED PAPER

[C76] M. BAGLIETTO, G. CANNATA, F. CAPEZIO, A. GROSSO, A. SGORBISSA, “Multi-Robot Continuous Coverage of Significant Locations in the Environment”, The 9th International Symposium on Distributed Autonomous Robotic Systems 2008 (DARS2008), November 17-19, 2008, Tsukuba (Japan).

[C77] BAGLIETTO, M.; CANNATA, G.; CAPEZIO, F.; GROSSO, A.; SGORBISSA, A., “A multi-robot coordination system based on RFID technology”, Proc. IEEE 14th Int. Conf. on Advanced Robotics (ICAR 2009), Munich (Germany), June 22-26, 2009.

[C78] A. BIGGIO, G. CANNATA, P. MAIOLINO, “Towards a Skin-Like Embedded Tactile Sensor for Robotic Hands”, The Thirty Sixth Annual Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour (AISB’10), 29th March – 1st April 2010, De Montfort University, Leicester (UK).

[C79] G. CANNATA, S. DENEI, F. MASTROGIOVANNI, “Towards Automated Self-Calibration of Robot Skin”, Proc. IEEE Int. Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010.

[C80] G. CANNATA, S. DENEI, F. MASTROGIOVANNI, “Tactile Sensing: Steps to Artificial Somatosensory Maps”, 19th IEEE International Symposium on Robot and Human Interactive Communication September 12-15, 2010, Viareggio, Italy. BEST PAPER AWARD.

[C81] G. CANNATA, S. DENEI, F. MASTROGIOVANNI, “A Framework for Representing Interaction Tasks Based on Tactile Data (I) 19th IEEE International Symposium on Robot and Human Interactive Communication September 12-15, 2010, Viareggio, Italy.

[C82] G. CANNATA, S. DENEI, F. MASTROGIOVANNI, “On Internal Models for Representing Tactile Information”, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei International Convention Center, Taipei, Taiwan.

[C83] G. CANNATA, A. SGORBISSA “A Distributed, Real-Time Approach to Multi-Robot Uniform Frequency Coverage”, Distributed Autonomous Robotic Systems 2010 – DARS 2010, Lausanne, November 2010.

[C84] E. BAGLINI, G. CANNATA, F. MASTROGIOVANNI, “Design of an Embedded Networking Infrastructure for Whole-Body Tactile Sensing in Humanoid Robots”, 2010 IEEE-RAS International Conference on Humanoid Robots, December 6-8, 2010, Sheraton Nashville Downtown, Nashville, TN, USA.

[C85] G. CANNATA, S. DENEI, F. MASTROGIOVANNI, “Contact Based Robot Control Through Tactile Maps”, 49th IEEE Conference on Decision and Control, December 15-17, 2010, Hilton Atlanta Hotel, Atlanta, GA, USA.

[C86] A. DEL PRETE, S. DENEI, L. NATALE, F. MASTROGIOVANNI, F. NORI, G. CANNATA, G. METTA, “Skin Spatial Calibration Using Force/Torque Measurements”, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), September 25-30, 2011, San Francisco, CA, USA.

[C87] S. YOUSSEFI, S. DENEI, F. MASTROGIOVANNI, G. CANNATA “A Middleware for Whole Body Skin-like Tactile Systems”, 2011 IEEE-RAS 11th International Conference on Humanoid Robots, October 26-28, 2011, Bled, Slovenia.

[C88] T.H.L. LE, A. SCHMITZ, P. MAIOLINO, F. MASTROGIOVANNI, G. CANNATA, ”A Toolbox for Supporting the Design of Large-scale Capacitive Tactile Systems”, 2011 IEEE-RAS 11th International Conference on Humanoid Robots, October 26-28, 2011, Bled, Slovenia.

[C89] P. COSSEDDU, L. BASIRICO, A. LOI, S. LAI, P. MAIOLINO, E. BAGLINI, S. DENEI, F. MASTROGIOVANNI, G. CANNATA, A. BONFIGLIO, “Inkjet Printed Organic Thin Film Transistors Based Tactile Transducers for Artificial Robotic Skin”, Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. Rome, Italy, Jun. 24-27, 2012.

[C90] S. DENEI, F. MASTROGIOVANNI, G. CANNATA, “Parallel Force-Position Control Mediated by Tactile Maps for Robot Contact Tasks”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012, Vilamoura (Portugal).

[C91] C. NATTERO, M. PAOLUCCI, D. ANGHINOLFI, F. MASTROGIOVANNI, G. CANNATA “Experimental Analysis of Different Pheromone Structures in an Ant Colony Optimization Algorithm in Robotic Skin Design”, Federated Conference on Computer Science and Information Systems, FedCSIS 2012. Wrocław, Poland, 9 - 12 September, 2012. BEST PAPER AWARD.

[C92] L. SEMINARA, F. MASTROGIOVANNI, M. VALLE, M. CAPURRO, G. CANNATA, L. MUSCARI, “Real-Time Reconstruction of Contact Shapes for Large Area Robot Skin” 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, May 2013.

[C93] MAIOLINO, P.; DENEI, S.; MASTROGIOVANNI, F.; CANNATA, G., "A sensorized glove for experiments in cloth manipulation," RO-MAN, 2013 IEEE , vol., no., pp.336,337, 26-29 Aug. 2013. doi: 10.1109/ROMAN.2013.6628484

[C94] YOUSSEFI, S.; DENEI, S.; MASTROGIOVANNI, F.; CANNATA, G., "Skinware: A real-time middleware for acquisition of tactile data from large scale robotic skins," Robotics and Automation (ICRA), 2014 IEEE International Conference on , vol., no., pp.6421,6426, May 31 2014-June 7 2014. doi: 10.1109/ICRA.2014.6907807.

[C95] BAGLINI, E.; YOUSSEFI, S.; MASTROGIOVANNI, F.; CANNATA, G., "A real-time distributed architecture for large-scale tactile sensing,", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp.1663,1669, 14-18 Sept. 2014. doi: 10.1109/IROS.2014.6942778.

[C96] MUSCOLO, G.G., CANNATA, G. A novel tactile sensor for underwater applications: Limits and perspectives (2015) MTS/IEEE OCEANS 2015 - Genova: Discovering Sustainable Ocean Energy for a New World, art. no. 7271717.

[C97] DENEI, S., MAIOLINO, P., BAGLINI, E., CANNATA, G. On the development of a tactile sensor for fabric manipulation and classification for industrial applications (2015) IEEE International Conference on Intelligent Robots and Systems, 2015-December, art. no. 7354092, pp. 5081-5086.

[C98] KHAN, A.A., KHOSRAVI, M., DENEI, S., MAIOLINO, P., KASPRZAK, W., MASTROGIOVANNI, F., CANNATA, G. “A tactile-based fabric learning and classification architecture”, 2016, 2016 IEEE International Conference on Information and Automation for Sustainability: Interoperable Sustainable Smart Systems for Next Generation, 8th ICIAfS 2016.

[C99] ALBINI, A., DENEI, S., CANNATA, G., “On the recognition of human hand touch from robotic skin pressure measurements using convolutional neural networks”, 2017, RO-MAN 2017 - 26th IEEE International Symposium on Robot and Human Interactive Communication, 2017-January, pp. 950-955. BEST PAPER AWARD.

[C100] ALBINI, A., DENEI, S., CANNATA, G., “Human hand recognition from robotic skin measurements in human-robot physical interactions”, 2017, IEEE International Conference on Intelligent Robots and Systems, 2017-September, pp. 4348-4353.

[C101] ALBINI, A., DENEI, S., CANNATA, G., “Towards autonomous robotic skin spatial calibration: A framework based on vision and self-touch”, 2017, IEEE International Conference on Intelligent Robots and Systems (IROS), 2017-September, pp. 153-159.

[C102] ALBINI, A., DENEI, S., CANNATA, G., “Enabling natural human-robot physical interaction using a robotic skin feedback and a prioritized tasks robot control architecture”, 2017, IEEE-RAS International Conference on Humanoid Robots, pp. 99-106.

[C103] ALBINI, A., CANNATA, G., “Tactile Images Generation from Contacts Involving Adjacent Robot Links”, 2018, RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication, pp. 306-312. BEST PAPER AWARD.

[C104] LUGO Calles, J.H., RAMADOSS, V., ZOPPI, M., CANNATA, G., MOLFINO, R., “Modeling of a Cable-Based Revolute Joint Using Biphasic Media Variable Stiffness Actuation”, 2019, Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019, pp. 618-623.

[C105] LUGO, J.H., CALIGIURI, A., ZOPPI, M., CANNATA, G., MOLFINO, R., “Position and Stiffness Control of One DoF Revolute Joint Using a Biphasic Media Variable Stiffness Actuator”, 2019, Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019, pp. 308-314.

7 Other Contributions to Conferences/Workshops/Symposia

[V1] A. GROSSO, D. ANGHINOLFI, A. BOCCALATTE, G. CANNATA, “A Context Aware Multi-robot Coordination System Based on Agent Technology”, Proceedings of 11° Workshop nazionale "Dagli Oggetti agli Agenti", WOA 2010, Rimini, Italy, September 5-7, 2010.

[V2] G. CANNATA, "ROBOSKIN - Skin-based technologies and capabilities for safe, autonomous and interactive robots", Workshop on Actuation & Sensing in Robotics, Saarbrücker Rathaus, Rathausplatz 1, Saarbrücken (Germany), Oct. 6, 2010. (INVITED TALK).

[V3] G. CANNATA, F. MASTROGIOVANNI (ORGANIZERS), "The Role of Tactile Sensing in Human-Robot Interaction",Special session at 19th IEEE International Symposium in Robot and Human Interactive Communication (RO-MAN 2010), Sep. 12-15, 2010, Viareggio (Italy).

[V4] G. CANNATA, "Models for Bio-inspired robot eyes", Workshop on Predictive Models in Humanoid Gaze Control and Locomotion at Robotics Systems and Science 2010, Saragozza (Spain), June 27, 2010. (INVITED TALK)

[V5] G. CANNATA, "ROBOSKIN Skin-based technologies and capabilities for safe, autonomous and interactive robots" (INVITED TALK) EURON/EUROP Annual Meeting, San Sebastian (Spain), March 10-12, 2010.

[V6] G. CANNATA, R. DAHIYA, M. MAGGIALI, G. METTA, F. MASTROGIOVANNI, M. VALLE, "Modular Skin for Humanoid Robot Systems", (POSTER) 4th International Conference on Cognitive Systems (CogSys), Jan. 27-28, 2010, Zurich (Switzerland).

[V7] G. CANNATA, "ROBOSKIN - Skin-Based Technologies and Capabilities for Safe, Autonomous & Interactive Robots", Workshop on Tactile Sensing in Humanoids - Tactile Sensors & beyond", at 9th Int. Conference on Humanoid Robots (Humanoids '09), Paris, Dec. 7th, 2009.

[V8] G. CANNATA, R. DAHIYA, G. METTA, M. VALLE (organizers), "Workshop on Tactile Sensing in Humanoids - Tactile Sensors & beyond", Workshop on Tactile Sensing in Humanoids - Tactile Sensors & beyond", at 9th Int. Conference on Humanoid Robots (Humanoids '09), Paris, Dec. 7th, 2009.

[V9] ANGELETTI D., CANNATA G., RETO S.: “Design of Multiprocessor Robot Control Systems Using SIMULINK”, 2a Conf. Italiana degli Utenti MATLAB, Novembre 1997. (Poster).

[V10] CAFFAZ A., BERNIERI S., CANNATA G., CASALINO G.: “DIST Robotic Hand”, Video Proceedings Int. Conference IROS ‘97, Grenoble, Sept. 8-12, 1997. (Video Proceedings)

[V11] G. CANNATA, G. CASALINO “Design of Task Level Robot Control Systems”, Atti 41o Convegno Naz. ANIPLA, Torino, 5-7 Nov. 1997.

[V12] BARTOLINI G., CANNATA G., CASALINO G., et al.:"AMADEUS: Advanced Manipulator for Deep Underwater Systems", Proc. 2nd MAST Days and Euromar Market, Sorrento, Italy, November 7-10, 1995.

8 Italian national Journals

[N1] CASALINO G., BAIARDI P., CANNATA G.: "Metodologie e strumenti per la simulazione dinamica di strutture meccaniche complesse", Automazione e Strumentazione, anno XL, n. 5, maggio 1992, pp131-137.

[N2] ANGELETTI D., BOZZO T., CAFFAZ A., CANNATA G., CASALINO G, RETO S., “Design of Task Level Robot Control Systems”, Automazione e Strumentazione (in Italian), anno XLVI, Sept. 1998, pp 127-134.

9 Technical Reports

[T1] CAITI A., CANNATA G.: "Metodi numerici per l'integrazione di equazioni differenziali algebriche", TR 110, IAN-CNR, giugno 1989.

[T2] CAITI A., CANNATA G.: "Preliminary Results on the Analysis of Descriptor Systems Using Orthogonal Functions", TR 137, IAN-CNR, luglio 1990.

[T3] CAITI A., CANNATA G.: "On the Stability of Spectral Methods for the Numerical Solution of Descriptor Systems", TR 159, IAN-CNR, marzo 1991.

[T4] CANNATA G., GROSSO E.: "Active Eye-Head Control: Explaining Biological Behaviors Through the Systems Approach", TR4-93 LiraLab – Universita’ di Genova, ottobre 1993.