Journals:

  1. Marinho, Murilo Marques, and Bruno Vilhena Adorno. 2022. “Adaptive Constrained Kinematic Control Using Partial or Complete Task-Space Measurements.” IEEE Transactions on Robotics, 1–16. https://doi.org/10.1109/TRO.2022.3181047. (ArXiv)
  2. Silva, Frederico F. A., Juan José Quiroz-Omaña, and Bruno V. Adorno. 2022. “Dynamics of Mobile Manipulators Using Dual Quaternion Algebra.” Journal of Mechanisms and Robotics, April, 1–24. https://doi.org/10.1115/1.4054320.
  3. Pereira, Marcos S., and Bruno Vilhena Adorno. 2022. “Manipulation Task Planning and Motion Control Using Task Relaxations.” Journal of Control, Automation and Electrical Systems 33 (4): 1103–15. https://doi.org/10.1007/s40313-022-00915-0.
  4. Adorno, Bruno Vilhena, and Murilo Marques Marinho. 2021. “DQ Robotics: A Library for Robot Modeling and Control.” IEEE Robotics & Automation Magazine 28 (3): 102–16. https://doi.org/10.1109/MRA.2020.2997920. (arxiv)
  5. Figueredo, Luis Felipe Cruz da Cruz, Bruno Vilhena Adorno, and João Yoshiyuki Ishihara. 2021. “Robust H∞ Kinematic Control of Manipulator Robots Using Dual Quaternion Algebra.” Automatica 132 (November): 109817. https://doi.org/10.1016/j.automatica.2021.109817. (arxiv)
  6. Fonseca, Mariana de Paula Assis, Bruno Vilhena Adorno, and Philippe Fraisse. 2021. “Task-Space Admittance Controller with Adaptive Inertia Matrix Conditioning.” Journal of Intelligent & Robotic Systems 101 (2): 41. https://doi.org/10.1007/s10846-020-01275-0.
  7. Fonseca, Mariana de Paula Assis, Bruno Vilhena Adorno, and Philippe Fraisse. 2020. “Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping.” IEEE Robotics and Automation Letters 5 (4): 6057–64. https://doi.org/10.1109/LRA.2020.3010458.
  8. Goncalves, Vinicius Mariano, Bruno Vilhena Adorno, Andre Crosnier, and Philippe Fraisse. 2020. “Stable-by-Design Kinematic Control Based on Optimization.” IEEE Transactions on Robotics 36 (3): 644–56. https://doi.org/10.1109/TRO.2019.2963665.
  9. Savino, Heitor J., Luciano C.A. Pimenta, Julie A. Shah, and Bruno V. Adorno. 2020. “Pose Consensus Based on Dual Quaternion Algebra with Application to Decentralized Formation Control of Mobile Manipulators.” Journal of the Franklin Institute 357 (1): 142–78. https://doi.org/10.1016/j.jfranklin.2019.09.045. (arxiv)
  10. Quiroz-Omana, Juan Jose, and Bruno Vilhena Adorno. 2019. “Whole-Body Control With (Self) Collision Avoidance Using Vector Field Inequalities.” IEEE Robotics and Automation Letters 4 (4): 4048–53. https://doi.org/10.1109/LRA.2019.2928783. (arXiv)
  11. Marinho, Murilo Marques, Bruno Vilhena Adorno, Kanako Harada, and Mamoru Mitsuishi. 2019. “Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities.” IEEE Transactions on Robotics 35 (5): 1166–85. https://doi.org/10.1109/TRO.2019.2920078. (arXiv)
  12. Pham, H.L., B.V. Adorno, Veronique Perdereau, and Philippe Fraisse. 2018. “Set-Point Control of Robot End-Effector Pose Using Dual Quaternion Feedback.” Robotics and Computer-Integrated Manufacturing 52 (August): 100–110. https://doi.org/10.1016/j.rcim.2017.11.003.
  13. Quiroz-Omaña, Juan José, and Bruno Vilhena Adorno. 2018. “Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming.” Journal of Intelligent & Robotic Systems 91 (2): 263–78. https://doi.org/10.1007/s10846-017-0713-4. 
  14. Silva, Frederico Fernandes Afonso, and Bruno Vilhena Adorno. 2018. “Whole-Body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra.” Journal of Intelligent & Robotic Systems 91 (2): 249–62. https://doi.org/10.1007/s10846-017-0686-3.
  15. Kussaba, Hugo T.M., Luis F.C. Figueredo, João Y. Ishihara, and Bruno V. Adorno. 2017. “Hybrid Kinematic Control for Rigid Body Pose Stabilization Using Dual Quaternions.” Journal of the Franklin Institute, February. doi:10.1016/j.jfranklin.2017.01.028. (link)
  16. Adorno, Bruno Vilhena, and Philippe Fraisse. 2017. “The Cross-Motion Invariant Group and Its Application to Kinematics.” IMA Journal of Mathematical Control and Information 34 (4): 1359–1378. doi:10.1093/imamci/dnw032. (link)
  17. Goncalves, Vinicius Mariano, Philippe Fraisse, Andre Crosnier, and Bruno Vilhena Adorno. 2016. “Parsimonious Kinematic Control of Highly Redundant Robots.” IEEE Robotics and Automation Letters 1 (1) (January): 65–72. doi:10.1109/LRA.2015.2506259. (link).
  18. Lana, Ernesto Pablo, Bruno Vilhena Adorno, and Carlos Julio Tierra-Criollo. 2015. “Detection of Movement Intention Using EEG in a Human-Robot Interaction Environment.” Research on Biomedical Engineering 31 (4) (December): 285–294. doi:10.1590/2446-4740.0777. (link).
  19. Adorno, B.V., A. P. L. Bó, and P. Fraisse. 2015. “Kinematic Modeling and Control for Human-Robot Cooperation Considering Different Interaction Roles.” Robotica 33 (2) (February 28): 314–331. doi:10.1017/S0263574714000356. (link).
  20. Bernardes, Mariana C., Bruno V. Adorno, Geovany A. Borges, and Philippe Poignet. 2014. “3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation.” Journal of Control, Automation and Electrical Systems 25 (2): 216–27. https://doi.org/10.1007/s40313-013-0104-4. 
  21. Bernardes, M.C., B.V. Adorno, P. Poignet, and G.A. Borges. 2013. “Robot-Assisted Automatic Insertion of Steerable Needles with Closed-Loop Imaging Feedback and Intraoperative Trajectory Replanning.” Mechatronics 23 (6) (July): 630–645. doi:10.1016/j.mechatronics.2013.06.004. (link).

Preprints:

  1. Adorno, Bruno Vilhena. 2017. “Robot Kinematic Modeling and Control Based on Dual Quaternion Algebra --- Part I: Fundamentals.” Federal University of Minas Gerais, February 28. https://hal.archives-ouvertes.fr/hal-01478225v1
  2. Adorno, Bruno Vilhena, and Murilo Marques Marinho. 2022. “The Incomplete Guide to Academic Writing in Robotics Research.” 2022. https://incompleteguides.github.io/.
  3. F. F. A. Silva and B. V. Adorno, “Dynamic Modeling of Branched Robots using Modular Composition,” Aug. 2022. (Under review.) Available: http://arxiv.org/abs/2208.01795.


Book chapters:

  1. Adorno, Bruno Vilhena, and Geovany Araújo Borges. 2014. “Planejamento de Rotas.” In Robótica Móvel, edited by Roseli Aparecida Francelin Romero, Edson Prestes, Fernando Osório, and Denis Wolf, 84–110. Rio de Janeiro: Editora LTC. (buy here)

Peer-reviewed international conference papers:

  1. Cheah, Wei, Bruno Vilhena Adorno, Simon Watson, and Barry Lennox. 2022. “Set-Point Control for a Ground-Based Reconfigurable Robot.” In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto. (To appear.)
  2. Paula Assis Fonseca, Mariana de, Bruno Vilhena Adorno, and Philippe Fraisse. 2019. “An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix.” In 2019 19th International Conference on Advanced Robotics (ICAR), 111–16. Belo Horizonte: IEEE. https://doi.org/10.1109/ICAR46387.2019.8981558.
  3. Marinho, Murilo M., Bruno V. Adorno, Kanako Harada, Kyoichi Deie, Anton Deguet, Peter Kazanzides, Russell H. Taylor, and Mamoru Mitsuishi. 2019. “A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces.” In 2019 International Conference on Robotics and Automation (ICRA), 2721–27. Montreal: IEEE. https://doi.org/10.1109/ICRA.2019.8794363. (arXiv)
  4. Marinho, Murilo M., Bruno V. Adorno, Kanako Harada, and Mamoru Mitsuishi. 2018. “Active Constraints Using Vector Field Inequalities for Surgical Robots.” In 2018 IEEE International Conference on Robotics and Automation (ICRA), 5364–71. IEEE. https://doi.org/10.1109/ICRA.2018.8461105. (arXiv)
  5. Mello, Laysa S, Guilherme V Raffo, and Bruno V Adorno. 2016. “Robust Whole-Body Control of an Unmanned Aerial Manipulator.” In 2016 European Control Conference (ECC), 702–7. Aalborg, Denmark: IEEE. https://doi.org/10.1109/ECC.2016.7810371.
  6. Marinho, M M, L F C Figueredo, and B V Adorno. 2015. “A Dual Quaternion Linear-Quadratic Optimal Controller for Trajectory Tracking.” In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4047–52. IEEE. https://doi.org/10.1109/IROS.2015.7353948.
  7. Lana, Ernesto Pablo, Bruno Vilhena Adorno, and Carlos Andrey Maia. 2015. “A New Algebraic Approach for the Description of Robotic Manipulation Tasks.” In 2015 IEEE International Conference on Robotics and Automation (ICRA), 3083–88. Seattle, Washington: IEEE. https://doi.org/10.1109/ICRA.2015.7139622.
  8. Figueredo, L.F.C., B.V. Adorno, J.Y. Ishihara, and G.A. Borges. 2014. “Switching Strategy for Flexible Task Execution Using the Cooperative Dual Task-Space Framework.” In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1703–9. Chicago: IEEE. https://doi.org/10.1109/IROS.2014.6942784.
  9. L. F. C. Figueredo, B. V. Adorno, J. Y. Ishihara, and G. A. Borges, “Robust kinematic control of manipulator robots using dual quaternion representation,” in Proceedings - IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 1949–1955. (pdf) 
  10. E. P. Lana, B. V. Adorno, and C. J. Tierra-Criollo, “An ERD/ERS analysis of the relation between human arm and robot manipulator movements,” in ISSNIP Biosignals and Biorobotics Conference, BRC, 2013, pp. 1–7. (pdf)
  11. M. C. Bernardes, B. V. Adorno, P. Poignet, and G. A. Borges, “Semi-automatic needle steering system with robotic manipulator,” in Proceedings - IEEE International Conference on Robotics and Automation (ICRA), 2012, pp. 1595–1600. (pdf)
  12. B. V. Adorno, A. P. L. Bo, and P. Fraisse, “Interactive manipulation between a human and a humanoid: When robots control human arm motion,” in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011, pp. 4658–4663. (pdf)
  13. M. C. Bernardes, B. V Adorno, P. Poignet, N. Zemiti, and G. A. Borges, “Adaptive path planning for steerable needles using duty-cycling,” in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011, pp. 2545–2550. (pdf)
  14. B. V. Adorno, A. P. L. Bó, P. Fraisse, and P. Poignet, “Towards a cooperative framework for interactive manipulation involving a human and a humanoid,” in Proceedings - IEEE International Conference on Robotics and Automation (ICRA), 2011, pp. 3777–3783. (pdf)
  15. B.V. Adorno, P. Fraisse, and S. Druon, “Dual position control strategies using the cooperative dual task-space framework,” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei: IEEE, 2010, pp. 3955-3960. (pdf)
  16. H.-L. Pham, V. Perdereau, B.V. Adorno, and P. Fraisse, “Position and orientation control of robot manipulators using dual quaternion feedback,” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei: IEEE, 2010, pp. 658-663. (pdf)
  17. B.V. Adorno and G.A. Borges, “iARW: An incremental path planner algorithm based on adaptive random walks,” The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, USA: 2009, pp. 988-993.  (pdf)

Peer-reviewed national and Latin American conference papers:

  1. Almada Campos, Ana Christina, and Bruno Vilhena Adorno. 2020. “Development of Human-Robot Communication Technologies for Future Interaction Experiments.” In 2020 Latin American Robotics Symposium (LARS), 2020 Brazilian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE), 1–6. IEEE. https://doi.org/10.1109/LARS/SBR/WRE51543.2020.9306965.
  2. Diniz Urban, Stella, and Bruno Vilhena Adorno. 2020. “Biped Walking Control Based on Quadratic Programming and Differential Inequalities.” In Anais Do Congresso Brasileiro de Automática 2020, 1–8. sbabra. https://doi.org/10.48011/asba.v2i1.1029.(pdf)
  3. S. Pereira, Marcos, and Bruno V. Adorno. 2020. “Manipulation Task Planning with Constrained Kinematic Controller.” In Anais Do Congresso Brasileiro de Automática 2020, 1–8. sbabra. https://doi.org/10.48011/asba.v2i1.1276. (pdf)
  4. Brito, Rafael Palma de, Bruno Vilhena Adorno, and Luciano Cunha De Araújo Pimenta. 2018. “Convergência e Cobertura de Curvas Por Sistemas Multi-Robôs.” In Anais Do XXII Congresso Brasileiro de Automática, 1–8. (pdf)
  5. Fonseca, Mariana De Paula Assis, Bruno Vilhena Adorno, and Philippe Fraisse. 2018. “Design of an Adaptive Controller to Improve the Condition Number of the Inertia Matrix of Serial Manipulators.” In Anais Do XXII Congresso Brasileiro de Automática, 1–8. (pdf)
  6. Alban, Diana Sabina, and Bruno Vilhena Adorno. 2017. “External Hybrid Force/pose Controller for Manipulator Robots Using Dual Quaternion Algebra.” In 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR), 1–6. Curitiba: IEEE. doi:10.1109/SBR-LARS-R.2017.8215334.
  7. Rego, Brenner S., Bruno V. Adorno, and Guilherme V. Raffo. 2016. “Formation Backstepping Control Based on the Cooperative Dual Task-Space Framework: A Case Study on Unmanned Aerial Vehicles.” In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 163–68. IEEE. doi:10.1109/LARS-SBR.2016.34.
  8. Quiroz-Omana, Juan Jose, and Bruno Vilhena Adorno. 2016. “Parsimonious Kinematic Control of Nonholonomic Mobile Manipulators.” In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 73–78. IEEE. doi:10.1109/LARS-SBR.2016.19.
  9. Fonseca, Mariana De Paula Assis, and Bruno Vilhena Adorno. 2016. “Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra.” In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 103–8. IEEE. doi:10.1109/LARS-SBR.2016.24.
  10. Silva, Frederico Fernandes Afonso, and Bruno Vilhena Adorno. 2016. “Whole-Body Control of a Mobile Manipulator Using Feedback Linearization Based on Dual Quaternions.” In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 293–98. IEEE. doi:10.1109/LARS-SBR.2016.56.
  11. A. C. Oliveira and B. V. Adorno, “Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework,” in XII Simpósio Brasileiro de Automação Inteligente (SBAI), 2015, pp. 485 – 490. (pdf)
  12. L. S. Mello, B. V. Adorno, and G. V. Raffo, “Whole-Body Modeling and Control of an Unmanned Aerial Manipulator,” in XII Simpósio Brasileiro de Automação Inteligente (SBAI), 2015, pp. 969–974. (pdf)
  13. R. P. Brito, H. J. Savino, B. V Adorno, and L. C. A. Pimenta, “Consenso utilizando a álgebra de Quatérnios Duais em sistemas compostos por manipuladores móveis,” in XII Simpósio Brasileiro de Automação Inteligente (SBAI), 2015, pp. 1907 – 1912. (pdf)
  14. F. R. Salazar-Sangucho and B. V. Adorno. Modelagem e Controle de Corpo Completo Usando Quatérnios Duais para um Manipulador Móvel. In Congresso Brasileiro de Automática. 2014, 1544–1551. (pdf)
  15. E. P. Lana, B. V. Adorno and Carlos Andrey Maia. Descrição Geométrica, Cinemática e de Esforços para Tarefas de Manipulação Usando Quatérnios Duais. In Congresso Brasileiro de Automática. 2014, 965–972. (pdf)
  16. R. G. Durães, G. L. Vieira, P. N. Pena and B. V. Adorno. Teoria de Controle Supervisório e Controle Dirigido Ótimo: Solução de um Problema de Sequenciamento. In Congresso Brasileiro de Automática. 2014, 1608–1615. (pdf)
  17. M. M. Marinho and B. V. Adorno, “Design Of Singularity-robust and Task-priority Kinematic Controllers in the Unit Dual Quaternion Space,” in Anais do Simpósio Brasileiro de Automação Inteligente, 2013, pp. 1–6. (pdf)
  18. E. P. Lana, B. V. Adorno, and C. J. Tierra-Criollo, “Assistance Task Using a Manipulator Robot and User Kinematics Feedback,” in Simpósio Brasileiro de Automação Inteligente (SBAI), 2013, pp. 1–6. (pdf)
  19. B. V. Adorno, “Manipulação Cooperativa Descentralizada Usando o Espaço Dual de Cooperação,” in XIX Congresso Brasileiro de Automática (CBA), 2012, pp. 1–8. (pdf)
  20. Adorno, B. V. ; Borges, G. A. . Planejamento de caminho usando BI-ARW melhorado e mapa de rotas. In: Simpósio Brasileiro de Automação Inteligente (SBAI), 2007, Florianópolis. p. 1-6. (pdf)
  21. Adorno, B. V. ; Borges, G. A. . Um método de planejamento de trajetória para robôs móveis através de passeios aleatórios adaptativos e mapa de rotas.. In: Congresso Brasileiro de Automática (CBA), 2006, Salvador. (pdf)
  22. Adorno, B. V. ; Aguiar, C. S. R. ; Borges, G. A. . Planejamento de trajetória para o robô Omni usando o algoritmo Mapa de Rotas Probabilístico. In: Simpósio Brasileiro de Automação Inteligente (SBAI), 2005, São Luís. VII SBAI/ II IEEE LARS, 2005. p. 1-8. (pdf)

Peer-reviewed extended abstracts:

  1. Urban, Stella Diniz, and Bruno Vilhena Adorno. 2019. “Constraint-Based Gait Control Using Differential Inequalities.” In Workshop on Applications of Dual Quaternion Algebra to Robotics, 1–2. https://doi.org/10.5281/zenodo.3566763.
  2. Campos, Almada Christina Almada, and Bruno Vilhena Adorno. 2019. “Human Gesture Recognition Using Dual Quaternion Algebra.” In Workshop on Applications of Dual Quaternion Algebra to Robotics, 1–2. https://doi.org/10.5281/zenodo.3566656.
  3. Paula, Mariana De Paula Assis, Bruno Vilhena Adorno, and Philippe Fraisse. 2019. “Impedance Controller Using Dual Quaternion Logarithm.” In Workshop on Applications of Dual Quaternion Algebra to Robotics, 1–2. https://doi.org/10.5281/zenodo.3566610.
  4. Brito, Rafael Palma, Bruno Vilhena Adorno, and Luciano Cunha de Araújo Pimenta. 2019. “Distributed Coverage of Boundaries for Multi-Robot Systems Using Dual Quaternion Algebra.” In Workshop on Applications of Dual Quaternion Algebra to Robotics, 1–2. https://doi.org/10.5281/zenodo.3566792.
  5. Quiroz-Omaña, Juan José, and Bruno Vilhena Adorno. 2019. “Bimanual Mobile Manipulation Using the Cooperative Dual Task-Space Framework and Vector Fields Inequalities.” In Workshop on Applications of Dual Quaternion Algebra to Robotics, 1–2. https://doi.org/10.5281/zenodo.3566806.
  6. Pereira, Marcos da Silva, and Bruno Vilhena Adorno. 2019. “Manipulation Task Planning and Motion Control Using Task Relaxations.” In Workshop on Applications of Dual Quaternion Algebra to Robotics, 1–2. https://doi.org/10.5281/zenodo.3566726.
  7. Silva, Frederico Fernandes Afonso, and Bruno Vilhena Adorno. 2019. “Wrench Control Based on Dual Quaternion Algebra.” In Workshop on Applications of Dual Quaternion Algebra to Robotics, 1–2. https://doi.org/10.5281/zenodo.3566650.
  8. M.C. Bernardes, B.V. Adorno, N. Zemiti, P. Poignet, and G.A. Borges, "Path planning for steerable needles using duty-cycling", CARS 2011 Computer Assisted Radiology and Surgery, Berlin, 2011. (pdf)

Ph.D. Dissertation:

ADORNO, B. V., Two-arm manipulation: from manipulators to enhanced human-robot collaboration [Contribution à la manipulation à deux bras : des manipulateurs à la collaboration homme-robot], Université Montpellier 2, Montpellier, France, 2011. (pdf) 

MSc thesis:

ADORNO, B. V. . Planejamento probabilístico de rotas no espaço de configuração e sua aplicação em robótica móvel, University of Brasília (UnB), Brasília, Brasil, 2008. (pdf)

In 2010 this dissertation received first prize in the "Brasília 50 anos" Award. This work also received an honorable mention in the Brazil Engineering Award 2010, in the Graduate category, included in the thematic area of Digital Technologies and Communications.

Copyright© Bruno Vilhena Adorno. All Rights Reserved.