Dr Bruno Vilhena Adorno

Senior Lecturer in Robotics

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Publications

  1. 2022
  2. Accepted/In press

    Dynamics of Mobile Manipulators using Dual Quaternion Algebra

    Silva, F. F. A., Quiroz-Omaña, J. J. & Adorno, B. V., 6 Apr 2022, (Accepted/In press) In: Journal of Mechanisms and Robotics .

    Research output: Contribution to journalArticlepeer-review

  3. Accepted/In press

    Manipulation Task Planning and Motion Control Using Task Relaxations

    Pereira, M. S. & Adorno, B. V., Apr 2022, (Accepted/In press) In: Journal of Control, Automation and Electrical Systems.

    Research output: Contribution to journalArticlepeer-review

  4. 2021
  5. Published

    Robust H∞ kinematic control of manipulator robots using dual quaternion algebra

    Figueredo, L. F. C., Adorno, B. V. & Ishihara, J. Y., 1 Oct 2021, In: Automatica. 132, 109817.

    Research output: Contribution to journalArticlepeer-review

  6. Published

    DQ Robotics: A Library for Robot Modeling and Control

    Adorno, B. V. & Marques Marinho, M., 1 Sep 2021, In: IEEE Robotics and Automation Magazine . 28, 3, p. 102-116 15 p., 21081772.

    Research output: Contribution to journalArticlepeer-review

  7. Published

    Task-Space Admittance Controller with Adaptive Inertia Matrix Conditioning

    Assis Fonseca, M. D. P., Adorno, B. V. & Fraisse, P., 4 Feb 2021, In: Journal of Intelligent and Robotic Systems . 101, 2, 41.

    Research output: Contribution to journalArticlepeer-review

  8. 2020
  9. Published

    Development of Human-Robot Communication Technologies for Future Interaction Experiments

    Almada Campos, A. C. & Adorno, B. V., 9 Nov 2020, 2020 Latin American Robotics Symposium, 2020 Brazilian Symposium on Robotics and 2020 Workshop on Robotics in Education, LARS-SBR-WRE 2020. Goncalves, L. M. G., Drews Junior, P. L. J., da Silva, B. M. F., Fernandes Curvelo, C. D. C., Fabro, J. A., dos Santos, D. H. & de Melo, J. C. P. (eds.). IEEE, 9306965. (2020 Latin American Robotics Symposium, 2020 Brazilian Symposium on Robotics and 2020 Workshop on Robotics in Education, LARS-SBR-WRE 2020).

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  10. Published

    Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping

    Fonseca, M. D. P. A., Adorno, B. V. & Fraisse, P., 1 Oct 2020, In: IEEE Robotics and Automation Letters. 5, 4, p. 6057-6064 8 p.

    Research output: Contribution to journalArticlepeer-review

  11. Published

    Stable-by-Design Kinematic Control Based on Optimization

    Goncalves, V. M., Adorno, B. V., Crosnier, A. & Fraisse, P., 1 Jun 2020, In: IEEE Transactions on Robotics. 36, 3, p. 644-656 13 p.

    Research output: Contribution to journalArticlepeer-review

  12. Published

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

    Savino, H. J., Pimenta, L. C. A., Shah, J. A. & Adorno, B. V., 1 Jan 2020, In: Journal of the Franklin Institute. 357, 1, p. 142-178 37 p.

    Research output: Contribution to journalArticlepeer-review

  13. 2019
  14. Published

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

    Quiroz-Omaña, J. J. & Adorno, B. V., 15 Jul 2019, In: IEEE Robotics and Automation Letters. 4, 4, p. 4048-4053 6 p.

    Research output: Contribution to journalArticlepeer-review

  15. Published

    Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

    Marinho, M. M., Adorno, B. V., Harada, K. & Mitsuishi, M., 20 Jun 2019, In: IEEE Transactions on Robotics. 35, 5, p. 1166-1185 20 p.

    Research output: Contribution to journalArticlepeer-review

  16. Published

    A unified framework for the teleoperation of surgical robots in constrained workspaces

    Marinho, M. M., Adorno, B. V., Harada, K., Deie, K., Deguet, A., Kazanzides, P., Taylor, R. H. & Mitsuishi, M., May 2019, 2019 International Conference on Robotics and Automation, ICRA 2019. IEEE, p. 2721-2727 7 p. 8794363. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2019-May).

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  17. Published

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

    Assis Fonseca, M. D. P., Adorno, B. V. & Fraisse, P., 2019, 2019 19th International Conference on Advanced Robotics (ICAR). p. 111-116 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  18. 2018
  19. Published

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

    Quiroz-Omaña, J. J. & Adorno, B. V., 6 Aug 2018, In: Journal of Intelligent & Robotic Systems. 91, 2, p. 263-278 16 p.

    Research output: Contribution to journalArticlepeer-review

  20. Published

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

    Pham, H. L., Adorno, B. V., Perdereau, V. & Fraisse, P., 1 Aug 2018, In: Robotics and Computer-Integrated Manufacturing. 52, p. 100-110 11 p.

    Research output: Contribution to journalArticlepeer-review

  21. Published

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

    Silva, F. F. A. & Adorno, B. V., 1 Aug 2018, In: Journal of Intelligent & Robotic Systems. 91, 2, p. 249-262 14 p.

    Research output: Contribution to journalArticlepeer-review

  22. Published

    Active Constraints using Vector Field Inequalities for Surgical Robots

    Marinho, M. M., Adorno, B. V., Harada, K. & Mitsuishi, M., 21 May 2018, 2018 Ieee International Conference on Robotics and Automation. IEEE, p. 5364-5371 8 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  23. 2017
  24. Published

    The cross-motion invariant group and its application to kinematics

    Adorno, B. V. & Fraisse, P., 1 Dec 2017, In: IMA Journal of Mathematical Control and Information. 34, 4, p. 1359-1378 20 p.

    Research output: Contribution to journalArticlepeer-review

  25. Published

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

    Alban, D. S. & Adorno, B. V., Nov 2017, 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR). p. 1-6 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  26. Published

    Hybrid kinematic control for rigid body pose stabilization using dual quaternions

    Kussaba, H. T. M., Figueredo, L. F. C., Ishihara, J. Y. & Adorno, B. V., 1 May 2017, In: Journal of the Franklin Institute. 354, 7, p. 2769-2787 19 p.

    Research output: Contribution to journalArticlepeer-review

  27. 2016
  28. Published

    Parsimonious Kinematic Control of Nonholonomic Mobile Manipulators

    Quiroz-Omana, J. J. & Adorno, B. V., Oct 2016, 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR). p. 73-78 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  29. Published

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

    Silva, F. F. A. & Adorno, B. V., Oct 2016, 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR). p. 293-298 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  30. Published

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

    Rego, B. S., Adorno, B. V. & Raffo, G. V., 2016, Proceedings - 13th Latin American Robotics Symposium and 4th Brazilian Symposium on Robotics, LARS/SBR 2016. p. 163-168 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  31. Published

    Robust whole-body control of an unmanned aerial manipulator

    Mello, L. S., Raffo, G. V. & Adorno, B. V., 2016, 2016 European Control Conference (ECC). p. 702-707 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  32. Published

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

    Fonseca, M. D. P. A. & Adorno, B. V., 2016, Proceedings - 13th Latin American Robotics Symposium and 4th Brazilian Symposium on Robotics, LARS/SBR 2016. p. 103-108 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  33. 2015
  34. Published

    Parsimonious Kinematic Control of Highly Redundant Robots

    Goncalves, V. M., Fraisse, P., Crosnier, A. & Adorno, B. V., 7 Dec 2015, In: IEEE Robotics and Automation Letters. 1, 1, p. 65-72 8 p.

    Research output: Contribution to journalArticlepeer-review

  35. Published

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

    Lana, E. P., Adorno, B. V. & Tierra-Criollo, C. J., 1 Dec 2015, In: Research on Biomedical Engineering. 31, 4, p. 285-294 10 p.

    Research output: Contribution to journalArticlepeer-review

  36. Published

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

    Adorno, B. V., Bó, A. P. L. & Fraisse, P., 1 Feb 2015, In: Robotica. 33, 2, p. 314-331 18 p.

    Research output: Contribution to journalArticlepeer-review

  37. Published

    A dual quaternion linear-quadratic optimal controller for trajectory tracking

    Marinho, M. M., Figueredo, L. F. C. & Adorno, B. V., 2015, IEEE International Conference on Intelligent Robots and Systems. p. 4047-4052 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  38. Published

    A new algebraic approach for the description of robotic manipulation tasks

    Lana, E. P., Adorno, B. V. & Maia, C. A., 2015, Proceedings - IEEE International Conference on Robotics and Automation. p. 3083-3088 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  39. 2014
  40. Published

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

    Figueredo, L. F. C., Adorno, B. V., Ishihara, J. Y. & Borges, G. A., 6 Nov 2014, IEEE International Conference on Intelligent Robots and Systems. IEEE, p. 1703-1709 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  41. Published

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

    Bernardes, M. C., Adorno, B. V., Borges, G. A. & Poignet, P., 3 Jan 2014, In: Journal of Control, Automation and Electrical Systems. 25, 2, p. 216-227 12 p.

    Research output: Contribution to journalArticlepeer-review

  42. 2013
  43. Published

    Robust kinematic control of manipulator robots using dual quaternion representation

    Figueredo, L. F. C., Adorno, B. V., Ishihara, J. Y. & Borges, G. A., 17 Oct 2013, Proceedings - IEEE International Conference on Robotics and Automation. IEEE, p. 1949-1955 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  44. Published

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

    Bernardes, M. C., Adorno, B. V., Poignet, P. & Borges, G. A., 1 Sep 2013, In: Mechatronics. 23, 6, p. 630-645 16 p.

    Research output: Contribution to journalArticlepeer-review

  45. Published

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

    Lana, E. P., Adorno, B. V. & Tierra-Criollo, C. J., 2013, ISSNIP Biosignals and Biorobotics Conference, BRC. p. 1-7 7 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  46. 2012
  47. Published

    Semi-automatic needle steering system with robotic manipulator

    Bernardes, M. C., Adorno, B. V., Poignet, P. & Borges, G. A., 28 Jun 2012, 2012 IEEE International Conference on Robotics and Automation. IEEE, p. 1595-1600 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  48. 2011
  49. Published

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

    Adorno, B. V., Bo, A. P. L. & Fraisse, P., Sep 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 4658-4663 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  50. Published

    Adaptive path planning for steerable needles using duty-cycling

    Bernardes, M. C., Adorno, B. V., Poignet, P., Zemiti, N. & Borges, G. A., 2011, IEEE International Conference on Intelligent Robots and Systems. p. 2545-2550 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  51. Published

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

    Adorno, B. V., Bó, A. P. L., Fraisse, P. & Poignet, P., 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. IEEE, p. 3777-3783 7 p. 5979787. (Proceedings - IEEE International Conference on Robotics and Automation).

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  52. 2010
  53. Published

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

    Adorno, B. V., Fraisse, P. & Druon, S., 3 Dec 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. IEEE, p. 3955-3960 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  54. Published

    Position and orientation control of robot manipulators using dual quaternion feedback

    Pham, H-L., Perdereau, V., Adorno, B. V. & Fraisse, P., 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems. IEEE, p. 658-663 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

  55. 2009
  56. Published

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

    Adorno, B. V. & Borges, G. A., 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 988-993 6 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Publications highlights

Research output: Contribution to journalArticlepeer-review

Research output: Contribution to journalArticlepeer-review

Research output: Contribution to journalArticlepeer-review

Research output: Contribution to journalArticlepeer-review

Research output: Contribution to journalArticlepeer-review

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Research output: Contribution to journalArticlepeer-review