Claudio Bonivento
Papers
12
Total Citations
698
H-Index
7
About
Claudio Bonivento is a pioneering figure in robotics, whose work has fundamentally shaped the fields of robot manipulation, dexterous hands, and fault-tolerant control. His most influential contribution is the development of a rigorous theory of generalized inverses for robotics (307 citations), which exposed critical flaws in how the Moore-Penrose inverse was applied to hybrid control and manipulability analysis. In a landmark 1995 paper (183 citations), he systematically dismantled conventional dexterity measures, offering a corrected methodology that remains foundational for roboticists today. Bonivento also made significant advances in tactile sensing, developing algorithms for slip detection using rubber-based matrix sensors (94 citations), and in fault-tolerant control, where he specialized internal model-based schemes for robot manipulators subject to torque disturbances. As the lead of the University of Bologna Robotic Hand Project, he drove the development of high-dexterity hands for industrial and space applications, including a notable gripper for space robotics. His work on port-Hamiltonian systems and robust binary control further demonstrates his lasting impact on both theoretical and applied robotics.
Research Focus
Key Achievements
Top Papers
- 1A Theory of Generalized Inverses Applied to Robotics307 citations · 1993
- 2Robot manipulability183 citations · 1995
- 3Slip detection by tactile sensors: algorithms and experimental results94 citations · 2002
- 4Internal model based fault tolerant control of a robot manipulator43 citations · 2004
- 5
- 6Control System Design of a Dexterous Hand for Industrial Robots19 citations · 1988
- 7
- 8Robust Binary Control of Robotic Systems5 citations · 1992
- 9A Dexterous Gripper for Space Robotics3 citations · 1999
- 10Kinestatic Filtering for Hybrid Control of Constrained Rigid Body Motion3 citations · 1991