Daniele Pucci

Daniele Pucci
Istituto Italiano di Tecnologia | IIT · iCubFacility

PhD in ICT and Control Engineering

About

158
Publications
26,589
Reads
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1,346
Citations
Citations since 2016
133 Research Items
1254 Citations
2016201720182019202020212022050100150200250300
2016201720182019202020212022050100150200250300
2016201720182019202020212022050100150200250300
2016201720182019202020212022050100150200250300
Introduction
Daniele Pucci received the bachelor and master degrees in Control Engineering with highest honors from ”Sapienza”, University of Rome, in 2007 and 2009, respectively. In 2009, he also received the ”Academic Excellence Award” from Sapienza. In 2013, he earned the PhD title with a thesis prepared at INRIA Sophia Antipolis, France, under the supervision of Tarek Hamel and Claude Samson. From 2013 to 2017, he has been a postdoc at the Istituto Italiano di Tecnologia (IIT) working within the EU project CoDyCo. Since August 2017, he is the head of the Dynamic Interaction Control lab and the PI of the H2020 European Project AnDy. The main lab research focus is on the humanoid robot locomotion problem, with specific attention on the control and planning of the associated nonlinear systems.
Additional affiliations
June 2015 - July 2015
Sorbonne Université
Position
  • Guest researcher
October 2014 - November 2014
Istituto Italiano di Tecnologia
Position
  • Lecturer
Description
  • Course’s title “Introduction to nonlinear control theory”, duration 16 hours. The course is conceived for Ph.D. and master students.
July 2013 - July 2015
Istituto Italiano di Tecnologia
Position
  • PostDoc Position
Education
December 2009 - March 2013
Institute for Research in Computer Science and Automation (INRIA)
Field of study
  • Nonlinear control, flight dynamics, aerodynamics
October 2007 - November 2009
Sapienza University of Rome
Field of study
  • Systems engineering
September 2004 - September 2007
Sapienza University of Rome
Field of study
  • Automation Science and Automation System Engineering

Publications

Publications (158)
Conference Paper
Full-text available
This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators. The key idea is to perform a parametrization of the feasible joint space in terms of exogenous states. It follows that the control of these states allows for joint limi...
Article
Full-text available
Collocated adaptive control of underactuated mechanical systems is still a concern for the control community. The main difficulty comes from the nonlinearity of the collocated inverse dynamics with respect to the base parameters, which forbids the direct application of classical adaptive control schemes. This paper extends and encompasses the Sloti...
Article
Full-text available
This paper contributes towards the development of a unified standpoint on the equations of motion used for the control of free-floating mechanical systems. In particular, the contribution of the manuscript is twofold. First, we show how to write the system equations of motion for any choice of the base frame, without the need of re-applying algorit...
Article
Full-text available
The paper contributes towards the development of a unified control approach for longitudinal aircraft dynamics with large flight envelopes. Prior to the control design, we analyze the existence and the uniqueness of the equilibrium orientation along a reference velocity. We show that shape symmetries and aerodynamic stall phenomena imply the existe...
Preprint
The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed for aerial and legged robots. First, robot models that enable the presented whole-body trajectory optimisatio...
Preprint
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink funct...
Article
Full-text available
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an overall size fitting the anthropometric dimensions of a humanoid robot. More precisely, we present a cover concept consisting of two main components: a skeleton , which...
Article
Full-text available
Cyclic motions are fundamental patterns in robotic applications, including industrial manipulation and robot locomotion. This article proposes an approach for the online modulation of cyclic motions in robotic applications. For this purpose, we present an integrated programmable central pattern generator (CPG) for the online generation of the refer...
Preprint
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions, the \emph{Dynamical Complementarity Constraints}. The approach does not require a predefined contact sequence...
Chapter
Full-text available
The current state of the art in cognitive robotics, covering the challenges of building AI-powered intelligent robots inspired by natural cognitive systems. A novel approach to building AI-powered intelligent robots takes inspiration from the way natural cognitive systems—in humans, animals, and biological systems—develop intelligence by exploiting...
Preprint
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerody...
Preprint
Full-text available
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones. However, due to limited instrumentation available in these turbojets, estimating the precise thrust using classical...
Preprint
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-orientation and its linear velocity along with the augmented states of feet position-and-orientation,...
Preprint
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using wearable distributed inertial and force-torque sensing. This is done by extending the existing dynamical optimizat...
Preprint
Full-text available
Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modulation of cyclic motions in robotic applications. For this purpose, we present an integrated programmable Central Pattern Generator (CPG) for the online generation of the r...
Preprint
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state estimation. Contrary to the case of fixed based manipulators with prismatic or rotary joints, the state space of mo...
Preprint
We present an avatar system that enables a human operator to visit a remote location via iCub3, a new humanoid robot developed at the Italian Institute of Technology (IIT) paving the way for the next generation of the iCub platforms. On the one hand, we present the humanoid iCub3 that plays the role of the robotic avatar. Particular attention is pa...
Article
Full-text available
Human-like trajectory generation and footstep planning represent challenging problems in humanoid robotics. Recently, research in computer graphics investigated machine-learning methods for character animation based on training human-like models directly on motion capture data. Such methods proved effective in virtual environments, mainly focusing...
Article
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state estimation. Contrary to the case of fixed based manipulators with prismatic or revolute joints, the state space of...
Article
Full-text available
This article presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions, the dynamic complementarity conditions . The approach does not require a predefined contact sequence and...
Article
Full-text available
Overhead work is classified as one of the major risk factors for the onset of shoulder work-related musculoskeletal disorders and muscle fatigue. Upper-limb exoskeletons can be used to assist workers during the execution of industrial overhead tasks to prevent such disorders. Twelve novice participants have been equipped with inertial and force/tor...
Article
Effective control design of flying vehicles requires a reliable estimation of the propellers’ thrust forces to secure a successful flight. Direct measurements of thrust forces, however, are seldom available in practice and on-line thrust estimation usually follows from the application of fusion algorithms that process on-board sensor data. This let...
Article
Full-text available
Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although successful in specific scenarios, this approach requires demanding tuning of parameters and switching logic b...
Article
Full-text available
Improving the quality of work for human beings is receiving a lot of attention from multiple research communities. In particular, digital transformation in human factors and ergonomics is going to empower the next generation of the socio-technical workforce. The use of wearable sensors, collaborative robots, and exoskeletons, coupled with novel tec...
Article
Full-text available
Introduction Recently, many industrial exoskeletons for supporting workers in heavy physical tasks have been developed. However, the efficiency of exoskeletons with regard to physical strain reduction has not been fully proved, yet. Several laboratory and field studies have been conducted, but still more data, that cannot be obtained solely by beha...
Preprint
Full-text available
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful estimator which is characterized by concentrated Gaussian distributions. The configuration of a floa...
Preprint
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact force and torque that the environment exerts on the contact surface. We show that the proposed model extends t...
Preprint
Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although successful in specific scenarios, this approach requires demanding tuning of parameters and switching logic b...
Preprint
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple agents acting on a shared environment. In this paper we present a control framework for robot-robot collaborat...
Preprint
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining the force applied on the skin provides many additional possibilities. This additional feature usually requires...
Preprint
Full-text available
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in the robot's global coordinate system. For laser profile scanners this is a challenging procedure, as they provi...
Article
This letter presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact force and torque that the environment exerts on the contact surface. We show that the proposed model extends the l...
Article
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP-based controllers are: the control input often experiences discontinuities; no force feedback from force/torque (FT) sensors installed on the robot is taken into account. T...
Article
Full-text available
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for dynamically solving the inverse kinematics of highly articulate systems such as humans. The method presented is model-based, it makes use of velocity correction and differential kinematics integration in order...
Conference Paper
Full-text available
The paper introduce a robotics software control architecture suitable for the development of complete robotic industrial applications. The architecture fuse the state-of-the-art software technologies in a single standalone platform to provide an easy integration between all the software components necessary to control a robotic application, i.e. PL...
Article
Full-text available
Programming by demonstration has received much attention as it offers a general framework which allows robots to efficiently acquire novel motor skills from a human teacher. While traditional imitation learning that only focuses on either Cartesian or joint space might become inappropriate in situations where both spaces are equally important (e.g....
Preprint
Full-text available
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its body upon the obstacle. This paper presents a non-linear trajectory optimization method for generating step-up motions. We adopt a simplified model of the centroidal dynam...
Preprint
Full-text available
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction between the robot and the walking surface is modeled explicitly through a novel contact parametrization. The approach is complementarity-free and does not need a predefin...
Article
Despite extensive studies on cyclic tasks in robotics, definitive solutions for the problem of trajectory generation for periodic motions have not been achieved so far. In this paper, we present an approach for online trajectory generation from a library of desired periodic trajectories. The proposed approach consists of a Central Pattern Generator...
Article
Full-text available
The article presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the article is twofold. First, we introduce an open-source actor-oriented framewor...
Article
Pneumatic grippers are hugely employed in robotic applications. Nonetheless, their control is not easy due to difficulty in managing the pressure inside their air chambers. Pneumatic grippers have often simple structure though the lack of affordable control algorithms complicates their usage. Motivated by these reasons, we wish to deliver a new con...
Article
Full-text available
The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines governing dynamics. The model structure is identified by applying sparse identification of nonlinear dynamics, and then the parameters of the model are found via gray-box...
Article
Full-text available
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor’s spatial resolution is about 4 taxels/cm 2 in order to have an accurate reconstruction of the contact pressure distribution. As a consequen...
Preprint
Full-text available
Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware, robots are still not endowed with desirable relational skills that ensure a social component in their existence. This article draws from our experience as roboticists in...
Chapter
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human or another robot, without considering the dynamics of both the systems may lead to many shortcomings in fully...
Chapter
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these objects are passive, a robot has to interact with them to infer all the articulation models to understand the...
Chapter
The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torques are mapped to the output joint torques through a coupling matrix, such that the motor torque and friction parameters appear entangled from the point of view of the joi...
Chapter
Full-text available
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipulation algorithms in a novel manner, thus building upon and extending works available in literature. The approach allows a human operator to command and tel...
Article
Full-text available
A crucial part of dynamic motions is the interaction with other objects or the environment. Floating base robots have yet to perform these motions repeatably and reliably. Force torque sensors are able to provide the full description of a contact. Despite that, their use beyond a simple threshold logic is not widespread in floating base robots. For...
Article
In this paper we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is so...