Gianluca Lentini’s doctoral thesis.
Today, robotics offers robust and mature hardware solutions, by ensuring ﬂexible manufacturing and set-up investment longevity. Furthermore, the advent of cobots on the market has provided a sense of safety, reliability, efﬁciency and affordability. Besides, more and more anthropomorphic robots begin to be used in contexts that go beyond industrial sector, like disaster-scenarios, nuclear power plants, hospitals and home settings. This widespread diffusion in different ﬁelds and among non-expert users requires accessible and intuitive robotics. This thesis proposes an intuitive human-robot interface with different levels of autonomy, ranging from teleoperation to autonomous execution, depending on the context and the task.Downlaod Thesis