S. Andreotti

Delft University of Technology, University of Bologna

Papers

Total Citations

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About

S. Andreotti is a researcher whose work centers on robotic manipulation, with a particular focus on passivity-based control strategies for grasping and dexterous interaction. Their major contributions lie in developing and experimentally validating control frameworks that ensure stable and compliant robotic grasping, drawing on the principles of impedance control and passivity theory. A key innovation is the use of the "virtual object" concept, which simplifies the coordination of multi-fingered hands by treating the grasped object as a single entity for control purposes. Andreotti's most cited work, "A passivity-based control scheme for robotic grasping and manipulation" (2003, 23 citations), details this approach for both fingertip and full grasps. Earlier foundational experiments in "Using damping injection and passivity in robotic manipulation" (1999, 8 citations) provided crucial validation, demonstrating how damping injection can enhance stability. While citation counts are modest, reflecting a specialized niche, Andreotti’s research provides a rigorous theoretical foundation for safe, human-like robotic manipulation, influencing subsequent work in dexterous hands and physical human-robot interaction. Their contributions are particularly valuable for students and engineers seeking principled methods to achieve stable grasping without complex modeling.