Carloni, Prof. Raffaella
Raffaella Carloni is Professor of Robotics. Her research group Human-Centered Robotics focuses on the fundamental methodologies and cutting-edge technologies that enable intelligent robotics to seamlessly operate in complex, dynamic environments. Carloni studied electrical engineering at the University of Bologna, where she also received her PhD.
Carloni’s research interests include designing, modelling, and controlling compliant robotic systems, novel soft actuators, and prosthetic devices. One of the projects that gained a lot of attention was a bionic leg that helped people move naturally and without thinking, even in difficult environments such as hilly terrain. Carloni was nominated for the 2025 Klokhuis Science Prize for this invention. She said the following about the project: ‘It’s hard to walk normally when you’re missing a lower leg. You have to think about it constantly, which means you cannot casually walk up a hill, for example. I’m working on designing a bionic leg that can move just like a regular leg. The parts work in the same way as your muscles and bones. You’re not walking like a robot, but like someone who still actually has two legs. You no longer have to think about the fact that you have a prosthesis and you can just move about and do fun things.’
In 2024, Carloni won the Ben Feringa Impact Award in the Researchers category with her project ‘MyLeg’.
Raffaella Carloni - UG submission for the 2025 Klokhuis Science Prize
2024 Ben Feringa Impact Award: Rafaella Carloni
Previously in the news
Contact and more information
Publications
2025
Mazumder,
A., Hekman, E. E. G., & Carloni, R. (2025).
A Control Method for Transtibial Prostheses with Bilateral
Leg Data. In 2025 International Conference on
Rehabilitation Robotics, ICORR 2025 (pp. 364-369). (IEEE
International Conference on Rehabilitation Robotics). IEEE Computer
Society. https://doi.org/10.1109/ICORR66766.2025.11063099
Tankink,
T., Houdijk, H., Tabucol, J.,
Leopaldi, M., Hijmans, J., & Carloni,
R. (2025). Human-in-the-Loop Optimization of the
Stiffness and Alignment of a Prosthetic Foot to Reduce the
Metabolic Cost of Walking. IEEE Transactions on
Neural Systems and Rehabilitation Engineering,
33, 2823-2833. Article 33. https://doi.org/10.1109/TNSRE.2025.3590581
2024
Pan,
J., D’Anniballe, R., & Carloni,
R. (2025). Rolled Soft Actuators Based on
P(VDF-TrFE-CTFE) Electrospun Nanofibers. Advanced
Intelligent Systems, 7(2), Article 2400781. https://doi.org/10.1002/aisy.202400781
Sensini,
A., D'Anniballe, R., Gotti, C., Marchiori, G.,
Giavaresi, G., Carloni, R., Letizia Focarete, M.,
& Zucchelli, A. (2024). Bi-material nanofibrous
electrospun junctions: A versatile tool to mimic the
muscle–tendon interface. Materials and
Design, 242, Article 113015. https://doi.org/10.1016/j.matdes.2024.113015
Hill,
A., Groefsema, M., Sabatelli, M.,
Carloni, R., & Grzegorczyk, M. (2024).
Contextual Online Imitation Learning (COIL: Using Guide
Policies in Reinforcement Learning. In 16th
International Conference on Agents and Artificial Intelligence
(pp. 178-185). SciTePress. https://doi.org/10.5220/0012312700003636
Liu,
C., Tagliabue, G., Raveendranathan,
V., Houdijk, H. H., & Carloni,
R. (2024). Control Architecture of a Variable
Stiffness Prosthetic Knee for Energy Absorption and
Restoration. In 2024 10th IEEE RAS/EMBS International
Conference for Biomedical Robotics and Biomechatronics, BioRob
2024 (pp. 1855-1860). (Proceedings of the IEEE RAS and EMBS
International Conference on Biomedical Robotics and
Biomechatronics). IEEE Computer Society. https://doi.org/10.1109/BioRob60516.2024.10719962
Tankink,
T., Hijmans, J. M., Carloni,
R., & Houdijk, H. (2024).
Human-in-the-loop optimization of rocker shoes via different
cost functions during walking. Journal of
biomechanics, 166, Article 112028. https://doi.org/10.1016/j.jbiomech.2024.112028
Ogum,
B., Schomaker, L., & Carloni, R.
(2024). Learning to Walk With Deep Reinforcement Learning:
Forward Dynamic Simulation of a Physics-Based Musculoskeletal Model
of an Osseointegrated Transfemoral Amputee: Forward Dynamic
Simulation of a Physics-Based Musculoskeletal Model of an
Osseointegrated Transfemoral Amputee. IEEE
Transactions on Neural Systems and Rehabilitation
Engineering, 32, 431-441. https://doi.org/10.1109/TNSRE.2024.3352416
Tagliabue,
G., Raveendranathan, V., Gariboldi, A., Hut, L.
Y., Zucchelli, A., & Carloni, R. (2024).
MyKnee: Mechatronic Design of a Novel Powered Variable
Stiffness Prosthetic Knee. IEEE Transactions on
Medical Robotics and Bionics, 6(3), 1190-1201.
https://doi.org/10.1109/TMRB.2024.3407194
Carloni,
R., Luinge, R., & Raveendranathan, V.
(2024). The gait1415+2 OpenSim musculoskeletal model of
transfemoral amputees with a generic bone-anchored
prosthesis. Medical Engineering &
Physics, 123, Article 104091. https://doi.org/10.1016/j.medengphy.2023.104091
Mazumder,
A., Hekman, E. E. G., & Carloni, R. (2024).
Towards controlling transtibial prostheses using a single
degree of freedom inertial sensor system. IEEE
Access, 12, Article 24803. https://doi.org/10.1109/ACCESS.2024.3364498
Tagliabue,
G., & Carloni, R. (2024). Variable stiffness prosthetic joint. (Patent
No. WO2024052257).
2023
Tankink,
T., Houdijk, H., Carloni,
R., & Hijmans, J. (2023).
Human-in-the-loop optimization of rocker shoes via different
cost functions during walking. Gait &
Posture, 106(suppl. 1), S199-S200. https://doi.org/10.1016/j.gaitpost.2023.07.241
Raveendranathan,
V., Kooiman, V. GM., & Carloni, R. (2023).
Musculoskeletal model of osseointegrated transfemoral
amputees in OpenSim. PLoS ONE,
18(9), Article e0288864. https://doi.org/10.1371/journal.pone.0288864
Selleri,
G., Mongioì, F., Maccaferri, E., D'Anniballe, R.,
Mazzocchetti, L., Carloni, R., Fabiani, D., Zucchelli,
A., & Brugo, T. M. (2023). Self-Sensing Soft Skin Based
on Piezoelectric Nanofibers. Polymers,
15(2), 1-14. Article 280. https://doi.org/10.3390/polym15020280
D'Anniballe,
R., Selleri, G., Zucchelli, A., Fabiani, D., Carloni,
R., & Wierenga, L. (2023). Soft composite
actuators of poly(vinylidene
fluoride-trifluoroethylene-chlorotrifluoroethylene)-based
nanofibers and polydimethylsiloxane: Fabrication, electromechanical
characterization, and dynamic modeling. Materials
& design, 236, Article 112467. https://doi.org/10.1016/j.matdes.2023.112467
2022
Mazumder,
A., Hekman, E. E. G., & Carloni, R. (2022).
An adaptive hybrid control architecture for an active
transfemoral prosthesis. IEEE Access,
10, 52008-52019. https://doi.org/10.1109/ACCESS.2022.3173348
D'Anniballe,
R., Erdmann, N., Selleri, G., & Carloni, R.
(2022). Dynamic Modeling of P(VDF-TrFE-CTFE)-based Soft
Actuators via Echo State Networks. In 2022 IEEE/ASME
International Conference on Advanced Intelligent Mechatronics, AIM
2022 (pp. 118-124). (IEEE/ASME International Conference on
Advanced Intelligent Mechatronics, AIM; Vol. 2022-July). Institute
of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM52237.2022.9863398
Chen,
X. (Guest ed.), Tsuji, T. (Guest ed.), Carloni, R.
(Guest ed.), Chen, X. (Guest ed.), Chen, Z. (Guest ed.),
Choi, J. (Guest ed.), Clayton, G. (Guest ed.), Clévy, C.
(Guest ed.), Grebenstein, M. (Guest ed.), Grossard, M. (Guest ed.),
Ito, K. (Guest ed.), Jeon, S. (Guest ed.), Lan, C. C. (Guest ed.),
Liu, G. (Guest ed.), Liu, H. (Guest ed.), Liu, H. H. (Guest ed.),
Manzie, C., Oldham, K. (Guest ed.), Pan, Y. J. (Guest ed.), ...
Zhu, G. (Guest ed.) (2022). Guest Editorial Focused Section
on the Third Edition of TMECH/AIM Emerging Topics.
IEEE/ASME Transactions on Mechatronics,
27(4), 1817-1819. https://doi.org/10.1109/TMECH.2022.3184646
Marcos
Mazon, D., Groefsema, M., Schomaker,
L., & Carloni, R. (2022). IMU-Based
Classification of Locomotion Modes, Transitions, and Gait Phases
with Convolutional Recurrent Neural Networks.
Sensors, 22, Article 8871. https://doi.org/10.3390/s22228871
Adriaenssens,
A. J. C., Raveendranathan, V., & Carloni,
R. (2022). Learning to Ascend Stairs and Ramps: Deep
Reinforcement Learning for a Physics-Based Human Musculoskeletal
Model. MDPI: Sensor, 22(21),
Article 8479. https://doi.org/10.3390/s22218479
Selleri,
G., Gino, M. E., Brugo, T. M., D'Anniballe, R.,
Tabucol, J., Focarete, M. L., Carloni, R.,
Fabiani, D., & Zucchelli, A. (2022). Self-sensing
composite material based on piezoelectric nanofibers.
Materials & design, 219, Article
110787. https://doi.org/10.1016/j.matdes.2022.110787
Tabucol,
J., Brugo, T. M., Povolo, M., Leopaldi, M., Oddsson,
M., Carloni, R., & Zucchelli, A. (2022).
Structural fea-based design and functionality verification
methodology of energy-storing-and-releasing prosthetic feet.
Applied Sciences (Switzerland),
12(1), Article 97. https://doi.org/10.3390/app12010097
Tabucol,
J., Kooiman, V. G. M., Leopaldi, M., Brugo, T. M.,
Leijendekkers, R. A., Tagliabue, G.,
Raveendranathan, V., Sotgiu, E., Benincasa, P., Oddsson, M.,
Verdonschot, N., Carloni, R., & Zucchelli, A.
(2022). The Functionality Verification through Pilot Human
Subject Testing of MyFlex-δ: An ESR Foot Prosthesis with
Spherical Ankle Joint. Applied
Sciences, 12(9), Article 4575. https://doi.org/10.3390/app12094575
2021
D'Anniballe,
R., Zucchelli, A., & Carloni, R. (2022).
The effect of morphology on poly(vinylidene
fluoride-trifluoroethylene- chlorotrifluoroethylene)-based soft
actuators: Films and electrospun aligned nanofiber mats.
Sensors and Actuators A: Physical,
333, Article 113255. https://doi.org/10.1016/j.sna.2021.113255
Burawudi,
K. K., D'Anniballe, R., Langius, R. G., &
Carloni, R. (2021). A comparative study of predictive
models for Nafion-117 IPMC soft actuators. In IEEE/ASME
International Conference on Advanced Intelligent Mechatronics
(pp. 1124-1129). IEEE. https://doi.org/10.1109/AIM46487.2021.9517466
D'Anniballe,
R., Paoletta, G., & Carloni, R. (2021).
A Polyurethane-based Electrospun Nanofiber Bundle Soft
Actuator: Fabrication, Modeling, and Control. In 2021
IEEE 4th International Conference on Soft Robotics (RoboSoft)
(pp. 393-398). IEEE. https://doi.org/10.1109/RoboSoft51838.2021.9479213
de
Vree , L., & Carloni, R. (2021). Deep
Reinforcement Learning for Physics-Based Musculoskeletal
Simulations of Healthy Subjects and Transfemoral Prostheses’
Users During Normal Walking. IEEE Transactions on
Neural Systems and Rehabilitation Engineering,
29, 607-618. https://doi.org/10.1109/TNSRE.2021.3063015
Carloni,
R., & Bruinsma, J. (2021). IMU-based deep neural
networks: Prediction of locomotor and transition intentions of an
osseointegrated transfemoral amputee. IEEE
Transactions on Neural Systems and Rehabilitation
Engineering, 29, 1079-1088. https://doi.org/10.1109/TNSRE.2021.3086843
D'Anniballe,
R., Zucchelli, A., & Carloni, R. (2021).
Towards Poly(vinylidene
fluoride-trifluoroethylene-chlorotrifluoroethylene)-Based Soft
Actuators: Films and Electrospun Aligned Nanofiber Mats.
Nanomaterials (Basel, Switzerland),
11(1), Article 172. https://doi.org/10.3390/nano11010172
2020
Gotti,
C., Sensini, A., Zucchelli, A., Carloni, R., &
Focarete , M. L. (2020). Hierarchical fibrous structures for
muscle-inspired soft-actuators: A review. Applied
Materials Today, 20, Article 100772. https://doi.org/10.1016/j.apmt.2020.100772
Lu,
H., Schomaker, L., & Carloni, R.
(2020). IMU-based Deep Neural Networks for Locomotor
Intention Prediction. In 2020 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS) IEEE. https://doi.org/10.1109/IROS45743.2020.9341649
Mazumder,
A., & Carloni, R. (2020). Mechatronic
design & adaptive control of a lower limb prosthesis. In
2020 8th IEEE International Conference on BiomedicalRobotics
and Biomechatronics (BioRob) (pp. 446-451). Article 9224340
(Proceedings of the IEEE RAS and EMBS International Conference on
Biomedical Robotics and Biomechatronics; Vol. 2020-November). IEEE.
https://doi.org/10.1109/BioRob49111.2020.9224340
Raveendranathan,
V., & Carloni, R. (2020).
Musculoskeletal Model of an Osseointegrated Transfemoral
Amputee in OpenSim. In 2020 8th IEEE RAS/EMBS
International Conference for Biomedical Robotics and
Biomechatronics (BioRob) (pp. 1196-1201). IEEE. https://doi.org/10.1109/BioRob49111.2020.9224422
2018
Barrett,
E., Reiling, M., Mirhassani, S., Meijering, R., Jager, J., Mimmo,
N., Callegati, F., Marconi, L., Carloni, R., &
Stramigioli, S. (2018). Autonomous Battery Exchange of UAVs
with a Mobile Ground Base. In 2018 IEEE International
Conference on Robotics and Automation (pp. 699-705). Article
8460201 IEEE. https://doi.org/10.1109/ICRA.2018.8460201
Carloni,
R., Lapp, V. I., Cremonese, A., Belcari, J., &
Zucchelli, A. (2018). A variable stiffness joint with
electrospun P(VDF-TrFE-CTFE) variable stiffness springs.
IEEE Robotics and Automation Letters,
3(2), 973-978. https://doi.org/10.1109/LRA.2018.2793348
van
Lenthe, P. G., Verros, S., Hekman, E. E. G., Carloni,
R., & Koopman, H. F. J. M. (2018). Comparing
assistive admittance control algorithms for a trunk supporting
exoskeleton. In 2018 IEEE International Conference on
Robotics and Automation (ICRA) (pp. 2828-2834). IEEE Xplore.
https://doi.org/10.1109/ICRA.2018.8461062
Unal,
R., Behrens, S., Carloni, R., Hekman, E., Stramigioli,
S., & Koopman, B. (2018). Conceptual Design of a Fully
Passive Transfemoral Prosthesis to Facilitate Energy-Efficient
Gait. IEEE Transactions on Neural Systems and
Rehabilitation Engineering, 26(12), 2360-2366.
https://doi.org/10.1109/TNSRE.2018.2880345
2017
Tan,
D. J., Brouwer, D. M., Fumagalli, M., & Carloni,
R. (2017). A 2-DOF Joint with Coupled Variable Output
Stiffness. IEEE Robotics and Automation
Letters, 2(1), 366-372. Article 7752796. https://doi.org/10.1109/LRA.2016.2631730
Bhole,
A. A., Kumle, J., Groothuis, S. S., & Carloni, R.
(2017). Control of a variable stiffness joint for catching a
moving object. In IEEE/RSJ International Conference on
Intelligent Robots and Systems 2017 (pp. 4756-4761). IEEE. https://doi.org/10.1109/IROS.2017.8206350
Barrett,
E., Reiling, M., Barbieri, G., Fumagalli, M., & Carloni,
R. (2017). Mechatronic design of a variable stiffness
robotic arm. In IEEE/RSJ International Conference on
Intelligent Robots and Systems 2017 (pp. 4582-4588). IEEE. https://doi.org/10.1109/IROS.2017.8206327
Groothuis,
S. S., Stramigioli, S., & Carloni, R. (2017).
Modeling robotic manipulators powered by variable stiffness
actuators: A graph-theoretic and port-hamiltonian formalism.
IEEE Transactions on Robotics,
33(4), 807-818. Article 7875152. https://doi.org/10.1109/TRO.2017.2668385
2016
Fumagalli,
M., Barrett, E., Stramigioli, S., & Carloni, R.
(2016). Analysis of an underactuated robotic finger with
variable pinch and closure grasp stiffness. In 2016 IEEE
International Conference on Advanced Intelligent Mechatronics, AIM
2016 (Vol. 2016-September, pp. 365-370). Article 7576794
Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576794
Barrett,
E., Fumagalli, M., & Carloni, R. (2016).
Elastic energy storage in leaf springs for a lever-arm based
variable stiffness actuator. In IROS 2016 - 2016
IEEE/RSJ International Conference on Intelligent Robots and
Systems (Vol. 2016-November, pp. 537-542). Article 7759105
Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759105
Fumagalli,
M., Stramigioli, S., & Carloni, R. (2016).
Mechatronic design of a robotic manipulator for unmanned
aerial vehicles. In IROS 2016 - 2016 IEEE/RSJ
International Conference on Intelligent Robots and Systems
(Vol. 2016-November, pp. 4843-4848). Article 7759711 Institute of
Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759711
De
Roo, M., Frasca, P., & Carloni, R. (2016).
Optimal event handling by multiple unmanned aerial
vehicles. In 2016 IEEE International Conference on
Robotics and Automation, ICRA 2016 (Vol. 2016-June, pp.
1230-1236). Article 7487253 Institute of Electrical and Electronics
Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487253
Abdelmoeti,
S., & Carloni, R. (2016). Robust control of
UAVs using the parameter space approach. In IROS 2016 -
2016 IEEE/RSJ International Conference on Intelligent Robots and
Systems (Vol. 2016-November, pp. 5632-5637). Article 7759828
Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759828
Groothuis,
S. S., Carloni, R., & Stramigioli, S. (2016).
Single motor-variable stiffness actuator using bistable
switching mechanisms for independent motion and stiffness
control. In 2016 IEEE International Conference on
Advanced Intelligent Mechatronics, AIM 2016 (Vol.
2016-September, pp. 234-239). Article 7576772 Institute of
Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576772
Barrett,
E., Reiling, M., Fumagalli, M., & Carloni, R.
(2016). The SHERPA gripper: Grasping of small-scale
UAVs. In SSRR 2016 - International Symposium on Safety,
Security and Rescue Robotics (pp. 384-389). Article 7784331
Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2016.7784331
Wolf,
S., Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner,
H., Burdet, E., Caldwell, D. G., Carloni, R.,
Catalano, M. G., Lefeber, D., Stramigioli, S., Tsagarakis, N., Van
Damme, M., Van Ham, R., Vanderborght, B., Visser, L. C., Bicchi,
A., & Albu-Schaffer, A. (2016). Variable Stiffness
Actuators: Review on Design and Components.
IEEE/ASME Transactions on Mechatronics,
21(5), 2418-2430. Article 7330025. https://doi.org/10.1109/TMECH.2015.2501019
2015
Wopereis,
H. W., Fumagalli, M., Stramigioli, S., & Carloni,
R. (2015). Bilateral human-robot control for
semi-autonomous UAV navigation. In IROS Hamburg 2015 -
Conference Digest: IEEE/RSJ International Conference on Intelligent
Robots and Systems (Vol. 2015-December, pp. 5234-5240).
Article 7354115 Institute of Electrical and Electronics Engineers
Inc.. https://doi.org/10.1109/IROS.2015.7354115
Groothuis,
S. S., Stramigioli, S., & Carloni, R. (2015).
Compliant manipulators on graphs. In IROS Hamburg
2015 - Conference Digest: IEEE/RSJ International Conference on
Intelligent Robots and Systems (Vol. 2015-December, pp.
6536-6542). Article 7354311 Institute of Electrical and Electronics
Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354311
Nizamis,
K., Lobo-Prat, J., Keemink, A. Q. L., Carloni, R.,
Stienen, A. H. A., & Koopman, B. F. J. M. (2015).
Switching proportional EMG control of a 3D endpoint arm
support for people with duchenne muscular dystrophy. In
Proceedings of the IEEE/RAS-EMBS International Conference on
Rehabilitation Robotics: Enabling Technology Festival, ICORR
2015 (Vol. 2015-September, pp. 235-240). Article 7281205 IEEE
Computer Society. https://doi.org/10.1109/ICORR.2015.7281205
Grioli,
G., Wolf, S., Garabini, M., Catalano, M., Burdet, E., Caldwell,
D., Carloni, R., Friedl, W., Grebenstein, M.,
Laffranchi, M., Lefeber, D., Stramigioli, S., Tsagarakis, N., Van
Damme, M., Vanderborght, B., Albu-Schaeffer, A., & Bicchi, A.
(2015). Variable stiffness actuators: The user's point of
view. International Journal of Robotics
Research, 34(6), 727-743. https://doi.org/10.1177/0278364914566515
2014
Fumagalli,
M., Stramigioli, S., & Carloni, R. (2014).
Analysis of a variable stiffness differential drive
(VSDD). Proceedings - IEEE International
Conference on Robotics and Automation, 2406-2411.
Article 6907193. https://doi.org/10.1109/ICRA.2014.6907193
Groothuis,
S., Carloni, R., & Stramigioli, S. (2014). A
novel variable stiffness mechanism capable of an infinite stiffness
range and unlimited decoupled output motion.
Actuators, 3(2), 107-123. https://doi.org/10.3390/act3020107
Roozing,
W., & Carloni, R. (2014). Bipedal walking
gait with variable stiffness knees. In 2014 5th IEEE RAS
and EMBS International Conference on Biomedical Robotics and
Biomechatronics, BioRob 2014 (pp. 924-930). Article 6913899
IEEE Computer Society. https://doi.org/10.1109/BIOROB.2014.6913899
Groothuis,
S. S., Stramigioli, S., & Carloni, R. (2014).
Compliant robotic systems on graphs. In IROS 2014
Conference Digest - IEEE/RSJ International Conference on
Intelligent Robots and Systems (pp. 3898-3903). Article
6943110 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943110
Fumagalli,
M., Naldi, R., Macchelli, A., Forte, F., Keemink, A. Q. L.,
Stramigioli, S., Carloni, R., & Marconi, L.
(2014). Developing an Aerial Manipulator Prototype Physical
Interaction with the Environment. IEEE Robotics
and Automation Magazine, 21(3), 41-50. Article
6875943. https://doi.org/10.1109/MRA.2013.2287454
Mersha,
A. Y., Stramigioli, S., & Carloni, R. (2014).
Exploiting the dynamics of a robotic manipulator for control
of UAVs. Proceedings - IEEE International
Conference on Robotics and Automation, 1741-1746.
Article 6907086. https://doi.org/10.1109/ICRA.2014.6907086
Mersha,
A. Y., Stramigioli, S., & Carloni, R. (2014).
On bilateral teleoperation of aerial robots.
IEEE Transactions on Robotics,
30(1), 258-274. Article 6613571. https://doi.org/10.1109/TRO.2013.2281563
Unal,
R., Klijnstra, F., Behrens, S. M., Hekman, E. E. G., Stramigioli,
S., Koopman, H. F. J. M., & Carloni, R. (2014).
The control of recycling energy strorage capacity for
WalkMECHadapt. In IEEE RO-MAN 2014 - 23rd IEEE
International Symposium on Robot and Human Interactive
Communication: Human-Robot Co-Existence: Adaptive Interfaces and
Systems for Daily Life, Therapy, Assistance and Socially Engaging
Interactions (October ed., Vol. 2014-October, pp. 720-725).
Article 6926338 Institute of Electrical and Electronics Engineers
Inc.. https://doi.org/10.1109/ROMAN.2014.6926338
Groothuis,
S. S., Rusticelli, G., Zucchelli, A., Stramigioli, S., &
Carloni, R. (2014). The variable stiffness actuator
vsaUT-II: Mechanical design, modeling, and identification.
IEEE/ASME Transactions on Mechatronics,
19(2), 589-597. Article 6487404. https://doi.org/10.1109/TMECH.2013.2251894
Roozing,
W., Visser, L. C., & Carloni, R. (2014).
Variable bipedal walking gait with variable leg
stiffness. In 2014 5th IEEE RAS and EMBS International
Conference on Biomedical Robotics and Biomechatronics, BioRob
2014 (pp. 931-938). Article 6913900 IEEE Computer Society. https://doi.org/10.1109/BIOROB.2014.6913900
Mersha,
A. Y., Stramigioli, S., & Carloni, R. (2014).
Variable impedance control for aerial interaction. In
IROS 2014 Conference Digest - IEEE/RSJ International Conference
on Intelligent Robots and Systems (pp. 3435-3440). Article
6943041 Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943041
2013
Huerzeler,
C., Naldi, R., Lippiello, V., Carloni, R., Nikolic,
J., Alexis, K., Marconi, L., & Siegwart, R. (2013).
AIRobots: Innovative aerial service robots for remote
inspection by contact. In 2013 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS) (pp.
2080). IEEE. https://doi.org/10.1109/IROS.2013.6696643
Fumagalli,
M., & Carloni, R. (2013). A modified
impedance control for physical interaction of UAVs. In
IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ
International Conference on Intelligent Robots and Systems
(pp. 1979-1984). Article 6696619 IEEE. https://doi.org/10.1109/IROS.2013.6696619
Ketelaar,
J. G., Visser, L. C., Stramigioli, S., & Carloni,
R. (2013). Controller design for a bipedal walking
robot using variable stiffness actuators. In 2013 IEEE
International Conference on Robotics and Automation, ICRA 2013
(pp. 5650-5655). Article 6631389 https://doi.org/10.1109/ICRA.2013.6631389
Visser,
L. C., Stramigioli, S., & Carloni, R. (2013).
Control strategy for energy-efficient bipedal walking with
variable leg stiffness. In 2013 IEEE International
Conference on Robotics and Automation, ICRA 2013 (pp.
5644-5649). Article 6631388 IEEE. https://doi.org/10.1109/ICRA.2013.6631388
Scholten,
J. L. J., Fumagalli, M., Stramigioli, S., & Carloni,
R. (2013). Interaction control of an UAV endowed with
a manipulator. In 2013 IEEE International Conference on
Robotics and Automation, ICRA 2013 (pp. 4910-4915). Article
6631278 IEEE. https://doi.org/10.1109/ICRA.2013.6631278
Mersha,
A. Y., Hou, X., Mahony, R., Stramigioli, S., Corke, P., &
Carloni, R. (2013). Intercontinental haptic
teleoperation of a flying vehicle: A step towards real-time
applications. In IROS 2013: New Horizon, Conference
Digest - 2013 IEEE/RSJ International Conference on Intelligent
Robots and Systems (pp. 4951-4957). Article 6697071 IEEE. https://doi.org/10.1109/IROS.2013.6697071
Groothuis,
S. S., Stramigioli, S., & Carloni, R. (2013).
Lending a helping hand: Toward novel assistive robotic
arms. IEEE Robotics and Automation
Magazine, 20(1), 20-29. Article 6476697. https://doi.org/10.1109/MRA.2012.2225473
Unal,
R., Klijnstra, F., Burkink, B., Behrens, S. M., Hekman, E. E. G.,
Stramigioli, S., Koopman, H. F. J. M., & Carloni,
R. (2013). Modeling of WalkMECH: A fully-passive
energy-efficient transfemoral prosthesis prototype. In
2013 IEEE 13th International Conference on Rehabilitation
Robotics, ICORR 2013 Article 6650406 https://doi.org/10.1109/ICORR.2013.6650406
Carloni,
R., Lippiello, V., D'Auria, M., Fumagalli, M., Mersha, A.
Y., Stramigioli, S., & Siciliano, B. (2013). Robot
vision: Obstacle-avoidance techniques for unmanned aerial
vehicles. IEEE Robotics and Automation
Magazine, 20(4), 22-31. Article 6651701. https://doi.org/10.1109/MRA.2013.2283632
Vanderborght,
B., Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D.
G., Carloni, R., Catalano, M., Eiberger, O., Friedl,
W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G.,
Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D.,
Petit, F., ... Wolf, S. (2013). Variable impedance actuators:
A review. Robotics and Autonomous
Systems, 61(12), 1601-1614. https://doi.org/10.1016/j.robot.2013.06.009
2012
Mersha,
A. Y., Ruesch, A., Stramigioli, S., & Carloni, R.
(2012). A contribution to haptic teleoperation of aerial
vehicles. In 2012 IEEE/RSJ International Conference on
Intelligent Robots and Systems, IROS 2012 (pp. 3041-3042).
Article 6386288 IEEE. https://doi.org/10.1109/IROS.2012.6386288
Marconi,
L., Basile, F., Caprari, G., Carloni, R., Chiacchio,
P., Hurzeler, C., Lippiello, V., Naldi, R., Nikolic, J., Siciliano,
B., Stramigioli, S., & Zwicker, E. (2012). Aerial service
robotics: The AIRobots perspective. In 2012 2nd
International Conference on Applied Robotics for the Power
Industry, CARPI 2012 (pp. 64-69)
Marconi,
L., Naldi, R., Torre, A., Nikolic, J., Huerzeler, C., Caprari, G.,
Zwicker, E., Siciliano, B., Lippiello, V., Carloni,
R., & Stramigioli, S. (2012). Aerial Service
Robots: An overview of the airobots activity. In 2012
2nd International Conference on Applied Robotics for the Power
Industry, CARPI 2012 (pp. 76-77). IEEE. https://doi.org/10.1109/CARPI.2012.6473364
Mersha,
A. Y., Stramigioli, S., & Carloni, R. (2012).
Bilateral teleoperation of underactuated unmanned aerial
vehicles: The virtual slave concept. In 2012 IEEE
International Conference on Robotics and Automation, ICRA 2012
(pp. 4614-4620). Article 6224711 https://doi.org/10.1109/ICRA.2012.6224711
Rüesch,
A., Mersha, A. Y., Stramigioli, S., & Carloni, R.
(2012). Kinetic scrolling-based position mapping for haptic
teleoperation of unmanned aerial vehicles. In 2012 IEEE
International Conference on Robotics and Automation, ICRA 2012
(pp. 3116-3121). Article 6224744 https://doi.org/10.1109/ICRA.2012.6224744
Carloni,
R., & Marconi, L. (2012). Limit cycles and
stiffness control with variable stiffness actuators. In
2012 IEEE/RSJ International Conference on Intelligent Robots
and Systems, IROS 2012 (pp. 5083-5088). Article 6385914 https://doi.org/10.1109/IROS.2012.6385914
Keemink,
A. Q. L., Fumagalli, M., Stramigioli, S., & Carloni,
R. (2012). Mechanical design of a manipulation system
for unmanned aerial vehicles. In 2012 IEEE International
Conference on Robotics and Automation, ICRA 2012 (pp.
3147-3152). Article 6224749 https://doi.org/10.1109/ICRA.2012.6224749
Fumagalli,
M., Naldi, R., MacChelli, A., Carloni, R.,
Stramigioli, S., & Marconi, L. (2012). Modeling and
control of a flying robot for contact inspection. In
2012 IEEE/RSJ International Conference on Intelligent Robots
and Systems, IROS 2012 (pp. 3532-3537). Article 6385917 https://doi.org/10.1109/IROS.2012.6385917
Visser,
L. C., Stramigioli, S., & Carloni, R. (2012).
Robust bipedal walking with variable leg stiffness. In
2012 4th IEEE RAS and EMBS International Conference on
Biomedical Robotics and Biomechatronics, BioRob 2012 (pp.
1626-1631). Article 6290284 https://doi.org/10.1109/BioRob.2012.6290284
Mersha,
A. Y., Stramigioli, S., & Carloni, R. (2012).
Switching-based mapping and control for haptic teleoperation
of aerial robots. In 2012 IEEE/RSJ International
Conference on Intelligent Robots and Systems, IROS 2012 (pp.
2629-2634). Article 6385457 https://doi.org/10.1109/IROS.2012.6385457
Fumagalli,
M., Barrett, E., Stramigioli, S., & Carloni, R.
(2012). The mVSA-UT: A miniaturized differential mechanism
for a continuous rotational variable stiffness actuator. In
2012 4th IEEE RAS and EMBS International Conference on
Biomedical Robotics and Biomechatronics, BioRob 2012 (pp.
1943-1948). Article 6290686 https://doi.org/10.1109/BioRob.2012.6290686
Marconi,
L., Melchiorri, C., Beetz, M., Pangercic, D., Siegwart, R.,
Leutenegger, S., Carloni, R., Stramigioli, S.,
Bruyninckx, H., Doherty, P., Kleiner, A., Lippiello, V., Finzi, A.,
Siciliano, B., Sala, A., & Tomatis, N. (2012). The SHERPA
project: Smart collaboration between humans and ground-aerial
robots for improving rescuing activities in alpine
environments. In 2012 IEEE International Symposium on
Safety, Security, and Rescue Robotics, SSRR 2012 Article
6523905 https://doi.org/10.1109/SSRR.2012.6523905
Groothuis,
S. S., Rusticelli, G., Zucchelli, A., Stramigioli, S., &
Carloni, R. (2012). The vsaUT-II: A novel rotational
variable stiffness actuator. In 2012 IEEE International
Conference on Robotics and Automation, ICRA 2012 (pp.
3355-3360). Article 6224868 https://doi.org/10.1109/ICRA.2012.6224868
Unal,
R., Carloni, R., Behrens, S. M., Hekman, E. E. G.,
Stramigioli, S., & Koopman, H. F. J. M. (2012). Towards a
fully passive transfemoral prosthesis for normal walking. In
2012 4th IEEE RAS and EMBS International Conference on
Biomedical Robotics and Biomechatronics, BioRob 2012 (pp.
1949-1954). Article 6290837 https://doi.org/10.1109/BioRob.2012.6290837
Vanderborght,
B., Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D.,
Carloni, R., Catalano, M., Ganesh, G., Garabini, M.,
Grebenstein, M., Grioli, G., Haddadin, S., Jafari, A., Laffranchi,
M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N., Van
Damme, M., ... Wolf, S. (2012). Variable impedance actuators:
Moving the robots of tomorrow. In 2012 IEEE/RSJ
International Conference on Intelligent Robots and Systems, IROS
2012 (pp. 5454-5455). Article 6385433 https://doi.org/10.1109/IROS.2012.6385433
Carloni,
R., Visser, L. C., & Stramigioli, S. (2012).
Variable stiffness actuators: A port-based power-flow
analysis. IEEE Transactions on
Robotics, 28(1), 1-11. Article 6045350. https://doi.org/10.1109/TRO.2011.2168709
2011
Van
Oort, G., Carloni, R., Borgerink, D. J., &
Stramigioli, S. (2011). An energy efficient knee locking
mechanism for a dynamically walking robot. In 2011 IEEE
International Conference on Robotics and Automation, ICRA 2011
(pp. 2003-2008). Article 5980276 https://doi.org/10.1109/ICRA.2011.5980276
Rao,
S., Carloni, R., & Stramigioli, S. (2011). A
novel energy-efficient rotational variable stiffness
actuator. In 33rd Annual International Conference of the
IEEE Engineering in Medicine and Biology Society, EMBS 2011
(Vol. 2011, pp. 8175-8178). Article 6092016 https://doi.org/10.1109/IEMBS.2011.6092016
Behrens,
S. M., Unal, R., Hekman, E. E. G., Carloni, R.,
Stramigioli, S., & Koopman, H. F. J. M. (2011). Design of
a fully-passive transfemoral prosthesis prototype. In
33rd Annual International Conference of the IEEE Engineering in
Medicine and Biology Society, EMBS 2011 (Vol. 2011, pp.
591-594). Article 6090111 https://doi.org/10.1109/IEMBS.2011.6090111
Visser,
L. C., Carloni, R., & Stramigioli, S. (2011).
Energy-efficient variable stiffness actuators.
IEEE Transactions on Robotics,
27(5), 865-875. Article 5784348. https://doi.org/10.1109/TRO.2011.2150430
Reilink,
R., Visser, L. C., Brouwer, D. M., Carloni, R., &
Stramigioli, S. (2011). Mechatronic design of the Twente
humanoid head. Intelligent Service
Robotics, 4(2), 107-118. https://doi.org/10.1007/s11370-010-0077-0
Mersha,
A. Y., Carloni, R., & Stramigioli, S. (2011).
Port-based modeling and control of underactuated aerial
vehicles. In 2011 IEEE International Conference on
Robotics and Automation, ICRA 2011 (pp. 14-19). Article
5980053 https://doi.org/10.1109/ICRA.2011.5980053
2010
Visser,
L. C., Carloni, R., Klijnstra, F., & Stramigioli,
S. (2010). A prototype of a novel energy efficient variable
stiffness actuator. In 2010 Annual International
Conference of the IEEE Engineering in Medicine and Biology Society,
EMBC'10 (pp. 3703-3706). Article 5627424 IEEE. https://doi.org/10.1109/IEMBS.2010.5627424
Unal,
R., Carloni, R., Hekman, E. E. G., Stramigioli, S.,
& Koopman, H. F. J. M. (2010). Biomechanical conceptual
design of a passive transfemoral prosthesis. In 2010
Annual International Conference of the IEEE Engineering in Medicine
and Biology Society, EMBC'10 (pp. 515-518). Article 5626020
IEEE. https://doi.org/10.1109/IEMBS.2010.5626020
Wassink,
M., Carloni, R., & Stramigioli, S. (2010).
Compliance analysis of an under-actuated robotic
finger. In 2010 3rd IEEE RAS and EMBS International
Conference on Biomedical Robotics and Biomechatronics, BioRob
2010 (pp. 325-330). Article 5628054 https://doi.org/10.1109/BIOROB.2010.5628054
Last modified:05 November 2025 09.53 a.m.
View this page in: Nederlands