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] , “Humanoid stereo head with augmented mobility”, in 2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, 2006, pp. 468–473.
, Dispositivo per locomozione a ricircolazione di membrana. Italian Patent Office P.N. IT2007GE00112, 2007.
, “On the velocity analysis of non-parallel closed chain mechanisms”, in Advances in Robot Kinematics ARK 2006, Ljubljana, Slovenia: Springer Netherlands, 2006, pp. 65-72.
, “Position Analysis of a Class of Translational Parallel Mechanisms”, Int. Jour. of Robotics and Automation, vol. 19, pp. 111-116, 2004.
, “Micro L-gimbal parallel mechanism for the active support of a micro mirror”, in Proc. of the 36th Int. Symposium on Robotics ISR05, 2005, pp. 1–6.
, Banco e metodo di supporto e lavorazione di pezzi a geometria complessa / Bench and method for the suppot and manufacturing of parts with complex geometry. Italian Patent Office GE2010A000063 and PCT/EP2011/058992, 2010.
, “Design of a micro robotic wrist for needle laparoscopic surgery”, ASME J. of Mech. Des., vol. 130, pp. 102306-1 - 102306-8, 2008.
, “Toward lean minimally invasive robotic surgery”, Robotica, vol. 28, pp. 185-197, 2010.
, “L-legs for the design of mini and micro parallel compliant mechanisms”, in ROMANSY 16: ROBOT DESIGN, DYNAMICS , AND CONTROL, 2006, pp. 23–30.
, Attuatore a rigidezza variabile e metodo per la regolazione della rigidezza. Italian Patent Office GE2011A000096, 2011.
, “Analytical kinematics models and special geometries of a class of 4-dof parallel mechanisms”, IEEE Trans. on Robotics, vol. 21, pp. 1046-1055, 2005.
, “ArmillEye”, in Parallel Kinematics Machines in Research and Practice, the 4th Chemnitz Parallel Kinematics Seminar PKS 2004, Vol. 24, 2004, pp. 735–738.
, ARMILLEYE: A THREE DEGREE-OF-FREEDOM SPHERICAL PARALLEL MECHANISM. European Patent Office P.N. WO2004106011 (A1), 2004.
, “ArmillEye: flexible platform for underwater stereo vision”, ASME J. of Mech. Des., vol. 129, pp. 808-815, 2007.
, “Equilibrium analysis of quasi-static, multi-roped walking robots”, in Int. Conf. Climbing and Walking robots and the support technology for mobile machines CLAWAR03, Catania, Italy: , 2003, pp. 259-266.
“A novel 5-DoF Interconnected-Chains PKM for manufacturing of revolute surfaces”, in 4th Chemnitzer parallel kinematik Seminar. Chemnitz, 2004, pp. 20–21.
, “Analytic differential kinematics of tetrahedral mechanisms”, in Proceedings of the Internation IFToMM Mech. and Machine Science Conference CCAMMS07, 2006, pp. 6–13.
, “Modular micro robotic instruments for transluminal endoscopic robotic surgery: new perspectives”, in Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010, 2010, pp. 440–445.
, “Kinematics Equations of a Class of 4DOF Parallel Wrists”, in On Advances in Robot Kinematics, Springer, 2004, pp. 105–112.
, “Meccanismo ibrido per il supporto alla visione stereoscopica in ambiente sottomarino”, in Atti XVII Congresso AIMETA di Meccanica Teorica e Applicata, 2005, pp. 77–77.
, AGRAULE: MECCANISMO PARALLELO A CINQUE GRADI DI LIBERTA‘ PER LA ESECUZIONE DI OPERAZIONI MANIFATTURIERE IN PARTICOLARE SU SUPERFICI DI RIVOLUZIONE. Italian Patent Office P.N. IT2004GE00028, 2004.
, “Equilibrium Analysis of Multi-Limbs Walking and Climbing Robots”, Int. J. Autonomous Robots, vol. 21, pp. 199-210, 2006.
, Argano a fune passante robotizzato. Italian Patent Office P.N. IT2007GE00129, 2007.
, “Kinematics analysis of the exechon tripod”, in PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B, 2010, pp. 1381–1388.
, “Constraint Singularities of Force Transmission in Nonredundant Parallel Robots with less than Six Degrees of Freedom”, ASME J. of Mech. Des., vol. 125, pp. 557-563, 2003.