Caio Mucchiani

Caio Mucchiani
Position: Ph.D Student

Research Interests: Service Robots , Manipulation and Control


Email: caio at

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  • [DOI] A. Specian, C. Mucchiani, M. Yim, and J. Seo, “Robotic edge-rolling manipulation: a grasp planning approach,” Ieee robotics and automation letters, vol. 3, iss. 4, p. 3137–3144, 2018.
    title={Robotic Edge-Rolling Manipulation: A Grasp Planning Approach},
    author={Specian, Andrew and Mucchiani, Caio and Yim, Mark and Seo, Jungwon},
    journal={IEEE Robotics and Automation Letters},
  • C. Mucchiani, M. Kennedy, M. Yim, and J. Seo, “Object picking through in-hand manipulation using passive end-effectors with zero mobility,” Ieee robotics and automation letters, vol. 3, iss. 2, p. 1096–1103, 2018.
    title={Object Picking Through In-Hand Manipulation Using Passive End-Effectors With Zero Mobility},
    author={Mucchiani, Caio and Kennedy, Monroe and Yim, Mark and Seo, Jungwon},
    journal={IEEE Robotics and Automation Letters},
  • [PDF] C. Mucchiani, S. Sharma, M. Johnson, J. Sefcik, N. Vivio, J. Huang, P. Cacchione, M. Johnson, R. Rai, A. Canoso, T. Lau, and M. Yim, “Evaluating older adults’ interaction with a mobile assistive robot,” in 2017 ieee/rsj international conference on intelligent robots and systems (iros), Vancouver, Canada, 2017.
    title = {Evaluating Older Adults’ Interaction with a Mobile Assistive Robot},
    author = {Mucchiani, Caio and Sharma, Suneet and Johnson, Megan and Sefcik, Justine and Vivio, Nicholas and Huang, Justin and
    Cacchione, Pamela and Johnson, Michelle and Rai, Roshan and Canoso, Adrian and Lau, Tessa and Yim, Mark},
    booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    address = {Vancouver, Canada},
    year = {2017},
  • J. S. Sefcik, M. Johnson, M. Yim, Lau T, Vivio N, C. Mucchiani, and P. Z. Cacchione, “Stake- holder confirmation of low-cost assistive robot activities to support older adults in their activities of daily living,” in Proc. of eastern nursing research society, 2017.
    title={Stake- holder Confirmation of Low-Cost Assistive Robot Activities to support Older Adults in their Activities of Daily Living},
    author={Sefcik, J. S and Johnson, M and Yim, M and Lau, T, and Vivio, N, and Mucchiani, C and Cacchione, P.Z},
    booktitle={Proc. of Eastern Nursing Research Society},


Robotic Edge-Rolling Manipulation: A Grasp Planning Approach

We present a novel robotic manipulation technique that we call robotic edge rolling. It refers to transporting a cylindrical object by rolling on its circular edge, as human workers might maneuver a gas cylinder on the ground.

Object Picking through In-Hand Manipulation using Passive End-Effectors with Zero Mobility

We present a new method for picking objects through quasistatic in-hand manipulation with endeffectors that have no degrees of freedom. Our stable manipulation/ grasp planning is achieved with two contacts at fixed distance and the force of gravity, and is provably complete and correct. Practically, our robotic in-hand manipulation technique can facilitate low-cost manipulation and …

Evaluating Older Adults’ Interaction with a Mobile Assistive Robot

We present findings from two deployments of an autonomous mobile robot in older adult low income Supportive Apartment Living (SAL) facilities. Design guidelines for the robot hardware and software were based on query of clinicians, caregivers and older adults through focus groups, member checks and surveys, to identify what each group believed to be the …