All Stories

  1. A New Semi-Automatic Strategy for Teleoperating Mobile Manipulators Using a Haptic Device

    Article • August 2025, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  2. Multi-Contact Posture Generation Using Vector Field Inequalities

    Article • August 2025, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  3. A New Hybrid Teleoperation Control Scheme for Holonomic Mobile Manipulator Robots Using a Ground-Based Haptic Device

    Article • December 2024, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  4. Control Strategies Using the Extended Cooperative Dual Task-Space

    Article • December 2024, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  5. Design of a Surgical Device for Performing Percutaneous Dilatational Tracheostomy

    Article • January 2024, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  6. Design Requirements of Robotic Systems for Assisting Percutaneous Tracheostomy: A Scoping Review and Development Framework

    Article • IEEE Transactions on Medical Robotics and Bionics, November 2023, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  7. Maintaining Visibility of Dynamic Objects in Cluttered Environments Using Mobile Manipulators and Vector Field Inequalities

    Article • October 2023, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  8. Task Planning and Motion Control with Temporal Logic Specifications

    Article • October 2023, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  9. Adaptive Constrained Kinematic Control Using Partial or Complete Task-Space Measurements

    Article • IEEE Transactions on Robotics, December 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  10. Set-point Control for a Ground-based Reconfigurable Robot

    Article • October 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  11. Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

    Article • Journal of Mechanisms and Robotics, September 2022, ASME International

    Dr Bruno Vilhena Adorno

  12. Manipulation Task Planning and Motion Control Using Task Relaxations

    Article • Journal of Control Automation and Electrical Systems, April 2022, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  13. Robust H ...

    Article • Automatica, October 2021, Elsevier

    Dr Bruno Vilhena Adorno

  14. DQ Robotics: A Library for Robot Modeling and Control

    Article • IEEE Robotics & Automation Magazine, September 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  15. Task-Space Admittance Controller with Adaptive Inertia Matrix Conditioning

    Article • Journal of Intelligent & Robotic Systems, February 2021, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  16. Development of Human-Robot Communication Technologies for Future Interaction Experiments

    Article • November 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  17. Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping

    Article • IEEE Robotics and Automation Letters, October 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  18. Stable-by-Design Kinematic Control Based on Optimization

    Article • IEEE Transactions on Robotics, June 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  19. Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

    Article • Journal of the Franklin Institute, January 2020, Elsevier

    Dr Bruno Vilhena Adorno

  20. An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix

    Article • December 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  21. Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

    Article • IEEE Transactions on Robotics, October 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  22. Whole-Body Control With (Self) Collision Avoidance Using Vector Field Inequalities

    Article • IEEE Robotics and Automation Letters, October 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  23. A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces

    Article • May 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  24. Set-point control of robot end-effector pose using dual quaternion feedback

    Article • Robotics and Computer-Integrated Manufacturing, August 2018, Elsevier

    Dr Bruno Vilhena Adorno

  25. External hybrid force/pose controller for manipulator robots using dual quaternion algebra

    Article • November 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  26. Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming

    Article • Journal of Intelligent & Robotic Systems, October 2017, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  27. Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra

    Article • Journal of Intelligent & Robotic Systems, October 2017, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  28. Hybrid kinematic control for rigid body pose stabilization using dual quaternions

    Article • Journal of the Franklin Institute, May 2017, Elsevier

    Dr Bruno Vilhena Adorno

  29. Formation Backstepping Control Based on the Cooperative Dual Task-Space Framework: A Case Study on Unmanned Aerial Vehicles

    Article • October 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  30. Parsimonious Kinematic Control of Nonholonomic Mobile Manipulators

    Article • October 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  31. Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra

    Article • October 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  32. Whole-body control of a mobile manipulator using feedback linearization based on dual quaternions

    Article • October 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  33. The cross-motion invariant group and its application to kinematics

    Article • IMA Journal of Mathematical Control and Information, July 2016, Oxford University Press (OUP)

    Dr Bruno Vilhena Adorno

  34. Robust whole-body control of an unmanned aerial manipulator

    Article • June 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  35. Parsimonious Kinematic Control of Highly Redundant Robots

    Article • IEEE Robotics and Automation Letters, January 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  36. Detection of movement intention using EEG in a human-robot interaction environment

    Article • Research on Biomedical Engineering, December 2015, FapUNIFESP (SciELO)

    Dr Bruno Vilhena Adorno

  37. A dual quaternion linear-quadratic optimal controller for trajectory tracking

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  38. A new algebraic approach for the description of robotic manipulation tasks

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  39. Switching strategy for flexible task execution using the cooperative dual task-space framework

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  40. Kinematic modeling and control for human-robot cooperation considering different interaction roles

    Article • Robotica, February 2014, Cambridge University Press

    Dr Bruno Vilhena Adorno

  41. 3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation

    Article • Journal of Control Automation and Electrical Systems, January 2014, Springer Science + Business Media

    Dr Bruno Vilhena Adorno

  42. Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning

    Article • Mechatronics, September 2013, Elsevier

    Dr Bruno Vilhena Adorno

  43. Robust kinematic control of manipulator robots using dual quaternion representation

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  44. An ERD/ERS analysis of the relation between human arm and robot manipulator movements

    Article • February 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  45. Semi-automatic needle steering system with robotic manipulator

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  46. Interactive manipulation between a human and a humanoid: When robots control human arm motion

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  47. Adaptive path planning for steerable needles using duty-cycling

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  48. Towards a cooperative framework for interactive manipulation involving a human and a humanoid

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  49. Position and orientation control of robot manipulators using dual quaternion feedback

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  50. Dual position control strategies using the cooperative dual task-space framework

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno

  51. iARW: An incremental path planner algorithm based on adaptive random walks

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Bruno Vilhena Adorno