Analytical Modeling, Virtual Prototyping, and Performance Optimization of Cartesian Robots: A Comprehensive Review.

Ferdinando Cannella https://orcid.org/0000-0001-7602-1850

Yasir Mehmood Ferdinando Cannella Silvio Cocuzza Analytical Modeling, Virtual Prototyping, and Performance Optimization of Cartesian Robots: A Comprehensive Review. 62 2025 14 Robotics 5 https://doi.org/10.3390/robotics14050062 db/journals/robotics/robotics14.html#MehmoodCC25 streams/journals/robotics

Marcel Gabriel Lahoud Daniel Gnad 0002 Gabriele Marchello Mariapaola D'Imperio Andreas Müller 0002 Ferdinando Cannella Inducing Matrix Sparsity Bias for Improved Dynamic Identification of Parallel Kinematic Manipulators using Deep Learning. 634-640 2025 ICRA https://doi.org/10.1109/ICRA55743.2025.11128257 conf/icra/2025 db/conf/icra/icra2025.html#LahoudGMDMC25 streams/conf/icra Marcel Gabriel Lahoud Gabriele Marchello Eleonora Fontana Amal Meddahi Khelifa Baizid Farshad Nozad Heravi Haider Abidi Mariapaola D'Imperio Ferdinando Cannella Vision-Based Path Planning for Autonomous Robotic Fabric Layering with a Sewing Machine. 31-36 2024 ERF (1) https://doi.org/10.1007/978-3-031-76424-0_6 conf/erf/2024-1 db/conf/erf/erf2024-1.html#LahoudMFMBHADC24 Mariapaola D'Imperio Gabriele Marchello Ferdinando Cannella Robotic Infrastructures for Infrastructures Robotic Inspections. 373-377 2024 ERF (2) https://doi.org/10.1007/978-3-031-76428-8_69 conf/erf/2024-2 db/conf/erf/erf2024-2.html#DImperioMC24 Marcel Gabriel Lahoud Gabriele Marchello Mariapaola D'Imperio Andreas Müller 0002 Ferdinando Cannella A Deep Learning Framework for Non-Symmetrical Coulomb Friction Identification of Robotic Manipulators. 10510-10516 2024 ICRA https://doi.org/10.1109/ICRA57147.2024.10610737 conf/icra/2024 db/conf/icra/icra2024.html#LahoudMDMC24 Javed Ahmad Selene Frascella Federico Dassiè Marcel Gabriel Lahoud Gabriele Marchello Ferdinando Cannella Arianna Traviglia AAPOE: Automated Artifacts Position and Orientation Estimation in Cultural Heritage. 1-7 2024 MESA https://doi.org/10.1109/MESA61532.2024.10704902 conf/mesa/2024 db/conf/mesa/mesa2024.html#AhmadFDLMCT24 Ferdinando Cannella Girolamo Di Francia PV Large Utility Visual Inspection via Unmanned Vehicles. 1-8 2024 MESA https://doi.org/10.1109/MESA61532.2024.10704867 conf/mesa/2024 db/conf/mesa/mesa2024.html#CannellaF24 Nahuel Jose Gabriele Marchello Ferdinando Cannella Motion Blur Impact on Measurement in Autonomous Inspection. 1-7 2024 MESA https://doi.org/10.1109/MESA61532.2024.10704904 conf/mesa/2024 db/conf/mesa/mesa2024.html#JoseMC24

Lizhou Xu Farshad Nozad Heravi Marcel Gabriel Lahoud Gabriele Marchello Mariapaola D'Imperio Syed Haider Abidi Mohammad Farajtabar Michele Martini Silvio Cocuzza Massimiliano Scaccia Ferdinando Cannella Development of a Flexible Assembly System for the World Robot Summit 2020 Assembly Challenge. 51-64 2023 February 35 J. Robotics Mechatronics 1 https://doi.org/10.20965/jrm.2023.p0051 db/journals/jrm/jrm35.html#XuHLMDAFMCSC23

Eleonora Fontana Mohammad Farajtabar Gabriele Marchello Marcel Gabriel Lahoud Haider Abidi Amal Meddahi Khelifa Baizid Mariapaola D'Imperio Ferdinando Cannella Wrinkle-Free Sewing with Robotics: The Future of Soft Material Manufacturing. 142-155 2023 Living Machines (1) https://doi.org/10.1007/978-3-031-38857-6_11 conf/lm/2023-1 db/conf/lm/lm2023-1.html#FontanaFMLAMBDC23

Alessandro Galdelli Mariapaola D'Imperio Gabriele Marchello Adriano Mancini Massimiliano Scaccia Michele Sasso Emanuele Frontoni Ferdinando Cannella A Novel Remote Visual Inspection System for Bridge Predictive Maintenance. 2248 2022 14 Remote. Sens. 9 https://doi.org/10.3390/rs14092248 db/journals/remotesensing/remotesensing14.html#GaldelliDMMSSFC22

Daniele Ludovico Paolo Guardiani Francesco Lasagni Jinoh Lee Ferdinando Cannella Darwin G. Caldwell Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach. 958-965 2021 6 IEEE Robotics Autom. Lett. 2 https://doi.org/10.1109/LRA.2021.3056358 db/journals/ral/ral6.html#LudovicoGLLCC21

Sergio Leggieri Carlo Canali Ferdinando Cannella Jinoh Lee Darwin G. Caldwell Preliminary Study on the Crawler Unit of a Novel Self-Reconfigurable Hybrid Platform for Inspection. 77-82 2021 ICAR https://doi.org/10.1109/ICAR53236.2021.9659426 conf/icar/2021 db/conf/icar/icar2021.html#LeggieriCCLC21 Rajesh Subburaman Mariapaola D'Imperio Jinoh Lee Ferdinando Cannella An Analysis on the Modeling Accuracy of Industrial Manipulators with Inherent Joint Elasticity. 8246-8253 2021 IROS https://doi.org/10.1109/IROS51168.2021.9636291 conf/iros/2021 db/conf/iros/iros2021.html#SubburamanDLC21 Isiah Zaplana Emanuela Cepolina Fabrizio Faieta Oronzo Lucia Roberto Gagliardi Khelifa Baizid Mariapaola D'Imperio Ferdinando Cannella A novel strategy for balancing the workload of industrial lines based on a genetic algorithm. 785-792 2020 ETFA https://doi.org/10.1109/ETFA46521.2020.9212038 conf/etfa/2020 db/conf/etfa/etfa2020.html#ZaplanaCFLGBDC20 Daniele Ludovico Paolo Guardiani Alessandro Pistone Jinoh Lee Ferdinando Cannella Darwin G. Caldwell Carlo Canali Modeling Cable-Driven Joint Dynamics and Friction: a Bond-Graph Approach. 7285-7291 2020 IROS https://doi.org/10.1109/IROS45743.2020.9341763 conf/iros/2020 db/conf/iros/iros2020.html#LudovicoGPLCCC20 Edwin Johnatan Avila Mireles Haider Abidi Mariapaola D'Imperio Massimiliano Scaccia Paolo Liberini Darwin G. Caldwell Ferdinando Cannella Study of Patients Self-Training Influence on Peripheral Neuropathies Diseases Diagnosis through D.I.T.A Device. 5435-5438 2019 EMBC https://doi.org/10.1109/EMBC.2019.8856599 https://www.wikidata.org/entity/Q92699727 conf/embc/2019 db/conf/embc/embc2019.html#MirelesADSLCC19 Rocco Antonio Romeo Luca Fiorio Edwin Johnatan Avila Mireles Ferdinando Cannella Giorgio Metta Daniele Pucci Closed-loop Force Control of a Pneumatic Gripper Actuated by Two Pressure Regulators. 7157-7162 2019 IROS https://doi.org/10.1109/IROS40897.2019.8968226 conf/iros/2019 db/conf/iros/iros2019.html#RomeoFMCMP19

Nahian Rahman Luca Carbonari Darwin G. Caldwell Ferdinando Cannella Kinematic Analysis, Prototypation and Control of a Novel Gripper for Dexterous Applications. 193-206 2018 91 J. Intell. Robotic Syst. 2 https://doi.org/10.1007/s10846-017-0655-x db/journals/jirs/jirs91.html#RahmanCCC18

Samuele Martelli Luca Mazzei Carlo Canali Paolo Guardiani Salvatore Giunta Alberto Ghiazza Ivan Mondino Ferdinando Cannella Vittorio Murino Alessio Del Bue Deep Endoscope: Intelligent Duct Inspection for the Avionic Industry. 1701-1711 2018 14 IEEE Trans. Ind. Informatics 4 https://doi.org/10.1109/TII.2018.2807797 db/journals/tii/tii14.html#MartelliMCGGGMC18

Maria Laura D'Angelo Ferdinando Cannella Autonomous Reconfigurable Dynamic Investigation Test-rig on hAptics (ARDITA). 82-93 2018 EuroHaptics (2) https://doi.org/10.1007/978-3-319-93399-3_8 conf/haptics/2018-2 db/conf/haptics/eurohaptics2018-2.html#DAngeloC18 Nahian Rahman Darwin G. Caldwell Ferdinando Cannella VARO-Fi: A Variable Orientable Gripper to Obtain In-Hand Manipulation. 4568-4575 2018 IROS https://doi.org/10.1109/IROS.2018.8594380 conf/iros/2018 db/conf/iros/iros2018.html#RahmanCC18

Hamza Khan 0004 Mariapaola D'Imperio Ferdinando Cannella Darwin G. Caldwell Alfred Cuschieri Claudio Semini Towards Scalable Strain Gauge-Based Joint Torque Sensors. 1905 2017 17 Sensors 8 https://doi.org/10.3390/s17081905 https://www.wikidata.org/entity/Q38618553 db/journals/sensors/sensors17.html#KhanDCCCS17

Maria Laura D'Angelo Ferdinando Cannella Matteo Bianchi 0002 Mariapaola D'Imperio Edoardo Battaglia Mattia Poggiani Gianluca Rossi Antonio Bicchi Darwin G. Caldwell An Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window. 123-129 2017 10 IEEE Trans. Haptics 1 https://doi.org/10.1109/TOH.2016.2614679 http://doi.ieeecomputersociety.org/10.1109/TOH.2016.2614679 https://www.wikidata.org/entity/Q39321095 db/journals/toh/toh10.html#DAngeloCBDBPRBC17

Giovanni Gerardo Muscolo Darwin G. Caldwell Ferdinando Cannella Biomechanics of human locomotion with constraints to design flexible-wheeled biped robots. 1273-1278 2017 AIM https://doi.org/10.1109/AIM.2017.8014193 conf/aimech/2017 db/conf/aimech/aim2017.html#MuscoloCC17 Nahian Rahman Luca Carbonari Carlo Canali Darwin G. Caldwell Ferdinando Cannella Dexclar: A gripper platform for payload-centric manipulation and dexterous applications. 1943-1950 2017 IROS https://doi.org/10.1109/IROS.2017.8206013 conf/iros/2017 db/conf/iros/iros2017.html#RahmanCCCC17 Mariapaola D'Imperio Daniele Ludovico Cristiano Pizzamiglio Carlo Canali Darwin G. Caldwell Ferdinando Cannella FLEGX: A bioinspired design for a jumping humanoid leg. 3977-3982 2017 IROS https://doi.org/10.1109/IROS.2017.8206251 conf/iros/2017 db/conf/iros/iros2017.html#DImperioLPCCC17 Mariapaola D'Imperio Cristiano Pizzamiglio Daniele Ludovico Darwin G. Caldwell Giancarlo Genta Ferdinando Cannella Advanced Modelling Techniques for Flexible Robotic Systems. 381-388 2017 RAAD https://doi.org/10.1007/978-3-319-61276-8_42 conf/raad/2017 db/conf/raad/raad2017.html#DImperioPLCGC17

Fei Chen 0007 Ferdinando Cannella Jian Huang 0001 Hironobu Sasaki Toshio Fukuda A Study on Error Recovery Search Strategies of Electronic Connector Mating for Robotic Fault-Tolerant Assembly. 257-271 2016 81 J. Intell. Robotic Syst. 2 https://doi.org/10.1007/s10846-015-0248-5 db/journals/jirs/jirs81.html#ChenCHSF16

Nahian Rahman Luca Carbonari Mariapaola D'Imperio Carlo Canali Darwin G. Caldwell Ferdinando Cannella A dexterous gripper for in-hand manipulation. 377-382 2016 AIM https://doi.org/10.1109/AIM.2016.7576796 conf/aimech/2016 db/conf/aimech/aim2016.html#RahmanCDCCC16 Maria Laura D'Angelo Darwin G. Caldwell Ferdinando Cannella Fingertip Recovery Time Depending on Viscoelasticity. 33-44 2016 EuroHaptics (1) https://doi.org/10.1007/978-3-319-42321-0_4 conf/haptics/2016-1 db/conf/haptics/eurohaptics2016-1.html#DAngeloCC16 Nahian Rahman Luca Carbonari Darwin G. Caldwell Ferdinando Cannella Manipulation & workspace analysis of Dexclar: A newly formed DEXterous gripper. 1876-1881 2016 ROBIO https://doi.org/10.1109/ROBIO.2016.7866602 conf/robio/2016 db/conf/robio/robio2016.html#RahmanCCC16 Mariapaola D'Imperio Luca Carbonari Nahian Rahman Carlo Canali Ferdinando Cannella KARL: A new bio-inspired modular limb for robotic applications. 183-188 2015 AIM https://doi.org/10.1109/AIM.2015.7222529 conf/aimech/2015 db/conf/aimech/aim2015.html#DImperioCRCC15 Edoardo Battaglia Matteo Bianchi 0002 Maria Laura D'Angelo Mariapaola D'Imperio Ferdinando Cannella Enzo Pasquale Scilingo Antonio Bicchi A Finite element model of tactile flow for softness perception. 2430-2433 2015 EMBC https://doi.org/10.1109/EMBC.2015.7318884 https://www.wikidata.org/entity/Q49040812 conf/embc/2015 db/conf/embc/embc2015.html#Battaglia0DDCSB15 Martina Lavalle Mariapaola D'Imperio Luca Carbonari Ferdinando Cannella Lando Mentrasti Mirko Pupilli Jian S. Dai 0001 New test rig for creased paperboard investigation to confectionery industry reconfigurable folders. 1-4 2015 ETFA https://doi.org/10.1109/ETFA.2015.7301565 conf/etfa/2015 db/conf/etfa/etfa2015.html#LavalleDCCMPD15 Eder Miguel Maria Laura D'Angelo Ferdinando Cannella Matteo Bianchi 0002 Mariacarla Memeo Antonio Bicchi Darwin G. Caldwell Miguel A. Otaduy Characterization of nonlinear finger pad mechanics for tactile rendering. 63-68 2015 World Haptics https://doi.org/10.1109/WHC.2015.7177692 conf/haptics/2015 db/conf/haptics/whc2015.html#MiguelDCBMBCO15 Mariapaola D'Imperio Luca Carbonari Nahian Rahman Carlo Canali Ferdinando Cannella A novel parallely actuated bio-inspired modular limb. 347-352 2015 IROS https://doi.org/10.1109/IROS.2015.7353396 conf/iros/2015 db/conf/iros/iros2015.html#DImperioCRCC15 Nahian Rahman Mariapaola D'Imperio Luca Carbonari Fei Chen 0007 Carlo Canali Darwin G. Caldwell Ferdinando Cannella A novel bio-inspired modular gripper for in-hand manipulation. 7-12 2015 ROBIO https://doi.org/10.1109/ROBIO.2015.7407011 conf/robio/2015 db/conf/robio/robio2015.html#RahmanDCCCCC15

Fei Chen 0007 Kosuke Sekiyama Ferdinando Cannella Toshio Fukuda Optimal Subtask Allocation for Human and Robot Collaboration Within Hybrid Assembly System. 1065-1075 2014 11 IEEE Trans Autom. Sci. Eng. 4 https://doi.org/10.1109/TASE.2013.2274099 db/journals/tase/tase11.html#ChenSCF14

Nadia Vanessa Garcia-Hernandez Federica Bertolotto Ferdinando Cannella Nikolaos G. Tsagarakis Darwin G. Caldwell How Tactor Size and Density of Normal Indentation Tactile Displays Affects Grating Discrimination Tasks. 356-366 2014 7 IEEE Trans. Haptics 3 https://doi.org/10.1109/TOH.2014.2309128 http://doi.ieeecomputersociety.org/10.1109/TOH.2014.2309128 https://www.wikidata.org/entity/Q47434857 db/journals/toh/toh7.html#Garcia-HernandezBCTC14

Carlo Canali Ferdinando Cannella Fei Chen 0007 Giuseppe Sofia Amit Eytan Darwin G. Caldwell An automatic assembly parts detection and grasping system for industrial manufacturing. 215-220 2014 CASE https://doi.org/10.1109/CoASE.2014.6899329 conf/case/2014 db/conf/case/case2014.html#CanaliCCSEC14 Maria Laura D'Angelo Ferdinando Cannella Paolo Liberini Darwin G. Caldwell Development and validation of a tactile sensitivity scale for peripheral neuropathy screening. 4823-4826 2014 EMBC https://doi.org/10.1109/EMBC.2014.6944703 https://www.wikidata.org/entity/Q86496032 conf/embc/2014 db/conf/embc/embc2014.html#DAngeloCLC14 Fei Chen 0007 Ferdinando Cannella Carlo Canali Traveler Hauptman Giuseppe Sofia Darwin G. Caldwell In-hand precise twisting and positioning by a novel dexterous robotic gripper for industrial high-speed assembly. 270-275 2014 ICRA https://doi.org/10.1109/ICRA.2014.6906621 conf/icra/2014 db/conf/icra/icra2014.html#ChenCCHSC14 Fei Chen 0007 Ferdinando Cannella Carlo Canali Mariapaola D'Imperio Traveler Hauptman Giuseppe Sofia Darwin G. Caldwell A study on data-driven in-hand twisting process using a novel dexterous robotic gripper for assembly automation. 4470-4475 2014 IROS https://doi.org/10.1109/IROS.2014.6943195 conf/iros/2014 db/conf/iros/iros2014.html#ChenCCDHSC14 Mariapaola D'Imperio Ferdinando Cannella Fei Chen 0007 Daniele Catelani Claudio Semini Darwin G. Caldwell Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design. 59-71 2014 Living Machines https://doi.org/10.1007/978-3-319-09435-9_6 conf/lm/2014 db/conf/lm/lm2014.html#DImperioCCCSC14 Fei Chen 0007 Ferdinando Cannella Hironobu Sasaki Carlo Canali Toshio Fukuda Error recovery strategies for electronic connectors mating in robotic fault-tolerant assembly system. 1-6 2014 MESA https://doi.org/10.1109/MESA.2014.6935587 conf/mesa/2014 db/conf/mesa/mesa2014.html#ChenCSCF14 Fei Chen 0007 Ferdinando Cannella Carlo Canali Amit Eytan Aldo Maria Bottero Darwin G. Caldwell Theoretical and kinematic solution of high reconfigurable grasping for industrial manufacturing. 734-739 2013 ROBIO https://doi.org/10.1109/ROBIO.2013.6739548 conf/robio/2013 db/conf/robio/robio2013.html#ChenCCEBC13 Ferdinando Cannella Fei Chen 0007 Carlo Canali Amit Eytan Aldo Maria Bottero Darwin G. Caldwell Design of an industrial robotic gripper for precise twisting and positioning in high-speed assembly. 443-448 2013 SII https://doi.org/10.1109/SII.2013.6776733 conf/sii/2013 db/conf/sii/sii2013.html#CannellaCCEBC13 Massimiliano Valente Ferdinando Cannella Lorenzo Scalise Mariacarla Memeo Paolo Liberini Darwin G. Caldwell Tactile Sensibility through Tactile Display: Effect of the Array Density and Clinical Use. 589-600 2012 EuroHaptics (1) https://doi.org/10.1007/978-3-642-31401-8_52 conf/haptics/2012-1 db/conf/haptics/eurohaptics2012-1.html#ValenteCSMLC12 Matteo Laffranchi Nikolaos G. Tsagarakis Ferdinando Cannella Darwin G. Caldwell Antagonistic and series elastic actuators: a comparative analysis on the energy consumption. 5678-5684 2009 IROS https://doi.org/10.1109/IROS.2009.5354349 conf/iros/2009 db/conf/iros/iros2009.html#LaffranchiTCC09 Haider Abidi Syed Haider Abidi Javed Ahmad Khelifa Baizid Edoardo Battaglia Federica Bertolotto Matteo Bianchi 0002 Antonio Bicchi Aldo Maria Bottero Alessio Del Bue Darwin G. Caldwell Carlo Canali Luca Carbonari Daniele Catelani Emanuela Cepolina Fei Chen 0007 Silvio Cocuzza Alfred Cuschieri Jian S. Dai 0001 Maria Laura D'Angelo Federico Dassiè Mariapaola D'Imperio Amit Eytan Fabrizio Faieta Mohammad Farajtabar Luca Fiorio Eleonora Fontana Girolamo Di Francia Selene Frascella Emanuele Frontoni Toshio Fukuda Roberto Gagliardi Alessandro Galdelli Nadia Vanessa Garcia-Hernandez Giancarlo Genta Alberto Ghiazza Salvatore Giunta Daniel Gnad 0002 Paolo Guardiani Traveler Hauptman Farshad Nozad Heravi Jian Huang 0001 Nahuel Jose Hamza Khan 0004 Matteo Laffranchi Marcel Gabriel Lahoud Francesco Lasagni Martina Lavalle Jinoh Lee Sergio Leggieri Paolo Liberini Oronzo Lucia Daniele Ludovico Adriano Mancini Gabriele Marchello Samuele Martelli Michele Martini Luca Mazzei Amal Meddahi Yasir Mehmood Mariacarla Memeo Lando Mentrasti Giorgio Metta Eder Miguel Edwin Johnatan Avila Mireles Ivan Mondino Andreas Müller 0002 Vittorio Murino Giovanni Gerardo Muscolo Miguel A. Otaduy Alessandro Pistone Cristiano Pizzamiglio Mattia Poggiani Daniele Pucci Mirko Pupilli Nahian Rahman Rocco Antonio Romeo Gianluca Rossi Hironobu Sasaki Michele Sasso Massimiliano Scaccia Lorenzo Scalise Enzo Pasquale Scilingo Kousuke SekiyamaKosuke Sekiyama Claudio Semini Giuseppe Sofia Rajesh Subburaman Arianna Traviglia Nikolaos G. Tsagarakis Massimiliano Valente Lizhou Xu Isiah Zaplana