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{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T19:41:55Z","timestamp":1740166915701,"version":"3.37.3"},"reference-count":31,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2024,3,23]],"date-time":"2024-03-23T00:00:00Z","timestamp":1711152000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"MIMIT, Ministry of Enterprise and Made in Italy","award":["Life Sciences Innovation Agreement DM 05\/03\/2018 in Italy"]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"This study explores the optimization of the TIAGo robot\u2019s configuration for grasping operation, with a focus on the context of aging. In fact, featuring a mobile base and a robotic arm, the TIAGo robot can conveniently aid individuals with disabilities, including those with motor and cognitive impairments in both domestic and clinical settings. Its capabilities include recognizing visual targets such as faces or gestures using stereo cameras, as well as interpreting vocal commands through acoustic sensors to execute tasks. For example, the robot can grasp and lift objects such as a glass of water and navigate autonomously in order to fulfill a request. The paper presents the position and differential kinematics that form the basis for using the robot in numerous application contexts. In the present case, they are used to evaluate the kinematic performance of the robot relative to an assigned pose in the search for the optimal configuration with respect to the higher-order infinite possible configurations. Ultimately, the article provides insight into how to effectively use the robot in gripping operations, as well as presenting kinematic models of the TIAGo robot.<\/jats:p>","DOI":"10.3390\/robotics13040056","type":"journal-article","created":{"date-parts":[[2024,3,25]],"date-time":"2024-03-25T16:50:49Z","timestamp":1711385449000},"page":"56","source":"Crossref","is-referenced-by-count":4,"title":["Posture Optimization of the TIAGo Highly-Redundant Robot for Grasping Operation"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-3207-4867","authenticated-orcid":false,"given":"Albin","family":"Bajrami","sequence":"first","affiliation":[{"name":"Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6931-6618","authenticated-orcid":false,"given":"Matteo-Claudio","family":"Palpacelli","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4342-3751","authenticated-orcid":false,"given":"Luca","family":"Carbonari","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7485-5402","authenticated-orcid":false,"given":"Daniele","family":"Costa","sequence":"additional","affiliation":[{"name":"Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche, 60131 Ancona, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Tian, Y., and Li, D. 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