Pietro Griffa

Pietro Griffa

Roboticist, tech enthusiast, and Master student at ETH Zurich.

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Pages

Posts

Future Blog Post

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Blog Post number 1

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portfolio

projects

Adaptive Lane Following

Design of an Adaptive Controller to calibrate on the fly a scaled autonomous vehicle.

  Supervisors: Jacopo Tani.

Code available here.

Object-Aware Active 3D Perception

Design of a novel object-aware Next Best View planner for a multi-object scenario, to autonomously generate scanning trajectory for reconstructing high quality object-level maps efficiently.

  Supervisors: Margarita Grinvald, Julian Förster, Dr. Roland Siegwart.

publications

Kinematic Optimization for the Design of a UR5 Robot End-Effector for Cardiac Tele-Ultrasonography

Published in The International Conference of IFToMM Italy 2020, 2020

Published:

Robotic tele-examination is mainstream for solving the nowadays worsening shortage of physicians. However, many solutions are based on custom robotic arms, whereas using COTS arms could reduce costs and make such systems affordable. In this paper, we address the problem of the design of an end-effector for cardiac tele-ultrasonography, assuming the use of a popular and low-cost industrial robot such as the Universal Robot UR5. We use a kinematic optimization based on the manipulability measure taking into account the position of the robot base with respect to the patient, the number of degrees of freedom (DoFs), and the size of the end-effector. The constraints of the problem are the full inclusion of the examination area in the workspace and the possibility to orient the probe correctly. The results of this study show that, although the arm has 6 DoFs, an additive DoF of the end-effector improves the manipulability measure by more than 100%

Recommended citation: P. Griffa, A. Filippeschi, C.A. Avizzano (2020). "Kinematic Optimization for the Design of a UR5 Robot End-Effector for Cardiac Tele-Ultrasonography." The International Conference of IFToMM ITALY, 2020. https://link.springer.com/chapter/10.1007/978-3-030-55807-9_48

Kinematic Optimization for the Design of a Collaborative Robot End-Effector for Tele-Echography

Published in Robotics 10, 2021

Published:

Tele-examination based on robotic technologies is a promising solution to solve the current worsening shortage of physicians. Echocardiography is among the examinations that would benefit more from robotic solutions. However, most of the state-of-the-art solutions are based on the development of specific robotic arms, instead of exploiting COTS (commercial-off-the-shelf) arms to reduce costs and make such systems affordable. In this paper, we address this problem by studying the design of an end-effector for tele-echography to be mounted on two popular and low-cost collaborative robots, ie, the Universal Robot UR5, and the Franka Emika Panda. In the case of the UR5 robot, we investigate the possibility of adding a seventh rotational degree of freedom. The design is obtained by kinematic optimization, in which a manipulability measure is an objective function. The optimization domain includes the position of the patient with regards to the robot base and the pose of the end-effector frame. Constraints include the full coverage of the examination area, the possibility to orient the probe correctly, have the base of the robot far enough from the patient’s head, and a suitable distance from singularities. The results show that adding a degree of freedom improves manipulability by 65% and that adding a custom-designed actuated joint is better than adopting a native seven-degrees-freedom robot.

Recommended citation: A. Filippeschi, P. Griffa, C.A. Avizzano (2021). "Kinematic Optimization for the Design of a Collaborative Robot End-Effector for Tele-Echography." Robotics 10 (1),8. https://www.mdpi.com/2218-6581/10/1/8

talks

teaching

Teaching experience 1

Undergraduate course, University 1, Department, 2014

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Teaching experience 2

Workshop, University 1, Department, 2015

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