R. Caracciolo

About

R. Caracciolo’s research career has been defined by a relentless pursuit of efficiency and precision in robotic systems, spanning control theory, energy optimization, and human-robot interaction. His most impactful work, "A Non-Time Based Controller for Load Swing Damping and Path-Tracking in Robotic Cranes" (2014, 36 citations), introduced a novel control strategy that decouples motion from time, enabling superior damping of payload oscillations—a critical advancement for industrial crane operations. Caracciolo’s major contribution lies in exploiting functional redundancy for energy savings, as demonstrated in his 2020 paper (31 citations), which shows how robots with extra degrees of freedom can be programmed to minimize power consumption without sacrificing task performance. He has also made foundational contributions to flexible robot arm control, using floating frame models (1996, 9 citations) to achieve weakly coupled dynamics for optimal controller design—a technique refined over decades from his early 1992 work. His recent 2025 paper on minimum-energy trajectory planning for underactuated manipulators (4 citations) continues this theme, addressing residual vibrations in energy-efficient designs. Beyond theory, Caracciolo has advanced practical applications in haptic teleoperation (2006, 4 citations) and assembly planning (1995, 8 citations), bridging simulation and real-world robotics. His work remains essential reading for researchers tackling the dual challenges of energy efficiency and dynamic control in modern robotic systems.

Research Focus

Key Achievements

Top Papers

1. 1
   A Non-Time Based Controller for Load Swing Damping and Path-Tracking in Robotic Cranes

   36 citations · 2014
2. 2
   Energy Optimization of Functionally Redundant Robots through Motion Design

   31 citations · 2020
3. 3
   Control Experiment of a Flexible Robot Arm Using the Floating Frame Model

   9 citations · 1996
4. 4
   Forward Assembly Planning Based on Stability

   8 citations · 1997
5. 5
   Minimum-Energy Trajectory Planning for an Underactuated Serial Planar Manipulator

   4 citations · 2025
6. 6
   Energy Optimal Design of Jerk-Continuous Trajectories for Industrial Robots

   4 citations · 2020
7. 7
   A Master-Slave Robotic System for Haptic Teleoperation

   4 citations · 2006
8. 8
   From CAD Models to Assembly Planning

   3 citations · 1995
9. 9
   About the Use of the Floating Frame in the Optimal Control of the Flexible Robot Arm

   2 citations · 1992

Key Collaborators

Contact & Links