Integration of active and passive compliance control for safe human-robot coexistence. - Riccardo Schiavi; Antonio Bicchi; Fabrizio Flacco (ICRA, 2009)

Nonlinear decoupled motion-stiffness control and collision detection/reaction for the VSA-II variable stiffness device. - Alessandro De Luca 001; Fabrizio Flacco; Antonio Bicchi; Riccardo Schiavi (IROS, 2009)

Dynamic gravity cancellation in robots with flexible transmissions. - Alessandro De Luca 001; Fabrizio Flacco (CDC, 2010)

Multiple depth/presence sensors: Integration and optimal placement for human/robot coexistence. - Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2010)

Residual-based stiffness estimation in robots with flexible transmissions. - Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2011)

A PD-type regulator with exact gravity cancellation for robots with flexible joints. - Alessandro De Luca 001; Fabrizio Flacco (ICRA, 2011)

Robust estimation of variable stiffness in flexible joints. - Fabrizio Flacco; Alessandro De Luca 001; Irene Sardellitti; Nikolaos G. Tsagarakis (IROS, 2011)

Depth space approach to human-robot collision avoidance. - Fabrizio Flacco; Torsten Kröger; Alessandro De Luca 001; Oussama Khatib (ICRA, 2012)

Motion control of redundant robots under joint constraints: Saturation in the Null Space. - Fabrizio Flacco; Alessandro De Luca 001; Oussama Khatib (ICRA, 2012)

Prioritized multi-task motion control of redundant robots under hard joint constraints. - Fabrizio Flacco; Alessandro De Luca 001; Oussama Khatib (IROS, 2012)

On-line estimation of variable stiffness in flexible robot joints. - Fabrizio Flacco; Alessandro De Luca 001; Irene Sardellitti; Nikos G. Tsagarakis (Int. J. Robotics Res., 2012)

Optimal redundancy resolution with task scaling under hard bounds in the robot joint space. - Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2013)

Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture. - Milad Geravand; Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2013)

Fast redundancy resolution for high-dimensional robots executing prioritized tasks under hard bounds in the joint space. - Fabrizio Flacco; Alessandro De Luca 001 (IROS, 2013)

Safe physical human-robot collaboration. - Fabrizio Flacco; Alessandro De Luca 001 (IROS, 2013)

Robotic visual servoing of moving targets. - Navid Shahriari; Silvia Fantasia; Fabrizio Flacco; Giuseppe Oriolo (IROS, 2013)

A pure signal-based stiffness estimation for VSA devices. - Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2014)

Discrete-time velocity control of redundant robots with acceleration/torque optimization properties. - Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2014)

Identifying the dynamic model used by the KUKA LWR: A reverse engineering approach. - Claudio Gaz; Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2014)

A reverse priority approach to multi-task control of redundant robots. - Fabrizio Flacco; Alessandro De Luca 001 (IROS, 2014)

Estimation of contact forces using a virtual force sensor. - Emanuele Magrini; Fabrizio Flacco; Alessandro De Luca 001 (IROS, 2014)

Control of generalized contact motion and force in physical human-robot interaction. - Emanuele Magrini; Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2015)

Unilateral constraints in the Reverse Priority redundancy resolution method. - Fabrizio Flacco; Alessandro De Luca 001 (IROS, 2015)

A Depth Space Approach for Evaluating Distance to Objects - with Application to Human-Robot Collision Avoidance. - Fabrizio Flacco; Torsten Kroeger; Alessandro De Luca 001; Oussama Khatib (J. Intell. Robotic Syst., 2015)

Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties. - Fabrizio Flacco; Alessandro De Luca 001 (Robotics Auton. Syst., 2015)

Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space. - Fabrizio Flacco; Alessandro De Luca 001; Oussama Khatib (IEEE Trans. Robotics, 2015)

The tasks priority matrix: A new tool for hierarchical redundancy resolution. - Fabrizio Flacco (Humanoids, 2016)

Residual-based contacts estimation for humanoid robots. - Fabrizio Flacco; Antonio Paolillo; Abderrahmane Kheddar (Humanoids, 2016)

Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods. - Claudio Gaz; Fabrizio Flacco; Alessandro De Luca 001 (ICRA, 2016)

Contact detection and physical interaction for low cost personal robots. - Fabrizio Flacco; Abderrahmane Kheddar (RO-MAN, 2017)

Real-Time Computation of Distance to Dynamic Obstacles With Multiple Depth Sensors. - Fabrizio Flacco; Alessandro De Luca 001 (IEEE Robotics Autom. Lett., 2017)