Harmonic drive transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot. - Giovanni Legnani; Rodolfo Faglia (Robotica, 1992)

Static calibration of industrial manipulators: Design of an optical instrumentation and application to SCARA robots. - Giovanni Legnani; Chiara Mina; James Trevelyan (J. Field Robotics, 1996)

Experimental comparison of decentralized controllers for industrial robots. - Antonio Visioli; Giovanni Legnani (Robotica, 1999)

Three methodologies for the calibration of industrial manipulators: Experimental results on a SCARA robot. - Alberto Omodei; Giovanni Legnani; Riccardo Adamini (J. Field Robotics, 2000)

Calibration of a measuring robot: Experimental results on a 5 DOF structure. - Alberto Omodei; Giovanni Legnani; Riccardo Adamini (J. Field Robotics, 2001)

Hybrid Force/Velocity Robot Contour Tracking: An Experimental Analysis of Friction Compensation Strategies. - Francesco Jatta; Riccardo Adamini; Antonio Visioli; Giovanni Legnani (ICRA, 2002)

On the trajectory tracking control of industrial SCARA robot manipulators. - Antonio Visioli; Giovanni Legnani (IEEE Trans. Ind. Electron., 2002)

A closed-loop neuro-parametric methodology for the calibration of a 5 DOF measuring robot. - Monica Tiboni; Giovanni Legnani; Pier Luigi Magnani; Diego Tosi (CIRA, 2003)

Hybrid force/velocity control of industrial manipulators with elastic transmissions. - Francesco Jatta; Giovanni Legnani; Antonio Visioli (IROS, 2003)

Hand to sensor calibration: A geometrical interpretation of the matrix equation AXXB. - Irene Fassi; Giovanni Legnani (J. Field Robotics, 2005)

Geometrical conditions for the design of partial or full isotropic hexapods. - Irene Fassi; Giovanni Legnani; Diego Tosi (J. Field Robotics, 2005)

An Iterative Learning Control Algorithm for Contour Tracking of unknown Objects. - Antonio Visioli; Giacomo Ziliani; Giovanni Legnani (ICRA, 2006)

On the elasticity in the dynamic decoupling of hybrid force/velocity control in the contour tracking task. - Nicola Pedrocchi; Antonio Visioli; Giacomo Ziliani; Giovanni Legnani (IROS, 2008)

Design of a Tendon Driven Parallel Manipulator for Micro-factory Applications. - Irene Fassi; Giovanni Legnani; Pier Luigi Magnani (ISR/ROBOTIK, 2010)

Iterative-Learning Hybrid Force/Velocity Control for Contour Tracking. - Antonio Visioli; Giacomo Ziliani; Giovanni Legnani (IEEE Trans. Robotics, 2010)

Handling and Manipulation of Microcomponents: Work-Cell Design and Preliminary Experiments. - Serena Ruggeri; Gianmauro Fontana; Claudia Pagano; Irene Fassi; Giovanni Legnani (IPAS, 2012)

Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters. - Enrico Villagrossi; Giovanni Legnani; Nicola Pedrocchi; Federico Vicentini; Lorenzo Molinari Tosatti; Fabio Abbà; Aldo Maria Bottero (ICINCO (2), 2014)

Precision Handling of Electronic Components for PCB Rework. - Gianmauro Fontana; Serena Ruggeri; Giovanni Legnani; Irene Fassi (IPAS, 2014)

LINarm: a low-cost variable stiffness device for upper-limb rehabilitation. - Matteo Malosio; Marco Caimmi; Giovanni Legnani; Lorenzo Molinari Tosatti (IROS, 2014)

A non-overconstrained variant of the Agile Eye with a special decoupled kinematics. - Chin-Hsing Kuo; Jian S. Dai 001; Giovanni Legnani (Robotica, 2014)

Friction modeling with temperature effects for industrial robot manipulators. - Luca Simoni; Manuel Beschi; Giovanni Legnani; Antonio Visioli (IROS, 2015)

On the use of a temperature based friction model for a virtual force sensor in industrial robot manipulators. - Luca Simoni; Enrico Villagrossi; Manuel Beschi; Alberto Marini; Nicola Pedrocchi; Lorenzo Molinari Tosatti; Giovanni Legnani; Antonio Visioli (ETFA, 2017)

ERRSE: Elbow Robotic Rehabilitation System with an EMG-Based Force Control. - Monica Tiboni; Giovanni Legnani; Matteo Lancini; Mauro Serpelloni; Massimiliano Gobbo; Davide Fausti (RAAD, 2017)

A Passivity-based Concurrent Whole-Body Control (cWBC) of Persistently Interacting Human-Exoskeleton Systems. - Federico L. Moro; Niccolò Iannacci; Giovanni Legnani; Lorenzo Molinari Tosatti (CoRR, 2017)

Fluid Dynamics Aided Design of an Innovative Micro-Gripper. - Gianmauro Fontana; Serena Ruggeri; Antonio Ghidoni; Alessandro Morelli; Giovanni Legnani; Adriano Maria Lezzi; Irene Fassi (IPAS, 2018)

Performance Analysis of a High-Speed Redundant Robot. - Massimo Callegari; Giacomo Palmieri; Matteo-Claudio Palpacelli; Roberto Bussola; Giovanni Legnani (MESA, 2018)

Optimization of Hand-to-Camera calibration using Geometrical Interpretation of Matrix equation AX = XB. - Giovanni Legnani (Int. J. Robotics Autom., 2018)

Unconventional calibration strategies for micromanipulation work-cells. - Gianmauro Fontana; Serena Ruggeri; Giovanni Legnani; Irene Fassi (Robotica, 2018)

Optimal planning in robotized cladding processes on generic surfaces. - Paolo Magnoni; Nicola Pedrocchi; Sebastian Thieme; Giovanni Legnani (Robotica, 2018)

Kinematics Analysis of a Class of Spherical PKMs by Projective Angles. - Giovanni Legnani; Irene Fassi (Robotics, 2018)

A fractional model of the friction-temperature behavior in robot joints. - Roberto Pagani; Fabrizio Padula; Giovanni Legnani; Ryan C. Loxton; Antonio Visioli (ICCMA, 2019)

Introducing Series Elastic Links for Affordable Torque-Controlled Robots. - Andrea Calanca; Eldison Dimo; Rudy Vicario; Paolo Fiorini; Mauro Serpelloni; Giovanni Legnani (IEEE Robotics Autom. Lett., 2019)

Modelling the temperature in joint friction of industrial manipulators. - Luca Simoni; Manuel Beschi; Giovanni Legnani; Antonio Visioli (Robotica, 2019)

Simulation Assessment of the Performance of a Redundant SCARA. - Roberto Bussola; Giovanni Legnani; Massimo Callegari; Giacomo Palmieri; Matteo-Claudio Palpacelli (Robotics, 2019)

On a Two-DoF Parallel and Orthogonal Variable-Stiffness Actuator: An Innovative Kinematic Architecture. - Matteo Malosio; Francesco Corbetta; Francisco Ramìrez Reyes; Hermes Giberti; Giovanni Legnani; Lorenzo Molinari Tosatti (Robotics, 2019)

Mechanical and Control Design of an Industrial Exoskeleton for Advanced Human Empowering in Heavy Parts Manipulation Tasks. - Alessandro Mauri; Jacopo Lettori; Giovanni Fusi; Davide Fausti; Maurizio Mor; Francesco Braghin; Giovanni Legnani; Loris Roveda (Robotics, 2019)

Real-time trajectory scaling for robot manipulators. - Marco Faroni; Roberto Pagani; Giovanni Legnani (UR, 2020)

Study of Neural-Kinematics Architectures for Model-Less Calibration of Industrial Robots. - Monica Tiboni; Giovanni Legnani; Nicola Pellegrini (J. Robotics Mechatronics, 2021)

Dynamic and Friction Parameters of an Industrial Robot: Identification, Comparison and Repetitiveness Analysis. - Lei Hao; Roberto Pagani; Manuel Beschi; Giovanni Legnani (Robotics, 2021)

Cobot User Frame Calibration: Evaluation and Comparison between Positioning Repeatability Performances Achieved by Traditional and Vision-Based Methods. - Roberto Pagani; Cristina Nuzzi; Marco Ghidelli; Alberto Borboni; Matteo Lancini; Giovanni Legnani (Robotics, 2021)

A Pendulum Approach to Understanding the Dynamics of Transient Contact in Human-Robot Collaboration. - S. M. B. P. B. Samarathunga; Andrea Bertagna; Irene Fassi; Marcello Valori; Roberto Pagani; David Vetturi; Giovanni Legnani (MESA, 2024)

Assessing Safety in Physical Human-Robot Interaction in Industrial Settings: A Systematic Review of Contact Modelling and Impact Measuring Methods. - S. M. B. P. B. Samarathunga; Marcello Valori; Giovanni Legnani; Irene Fassi (Robotics, 2025)

Real Time MEMS-Based Joint Friction Identification for Enhanced Dynamic Performance in Robotic Applications. - Paolo Righettini; Giovanni Legnani; Filippo Cortinovis; Federico Tabaldi; Jasmine Santinelli (Robotics, 2025)