My research interests are in the general areas of robotics and control. In particular, I have been working on kinematic and dynamic modeling, trajectory planning, motion planning and control for the following robotic systems/problems:
Manipulators with elastic joints, with variable stiffness actuation, with flexible links; Physical human-robot interaction; Collision detection; Robots in contact with the environment; Kinematically redundant robots; Wheeled mobile robots; Mobile manipulators; Visual servoing; Multiple cooperating manipulators; Underactuated manipulators; Nonholonomic mechanical systems; Locomotion platforms; Telepresence; Fault detection and isolation.
Watch some videos on our YouTube channel RoboticsLabSapienza, in particular in the playlists:
- Physical human-robot interaction
- Kinematic control of redundant robots
- Motion control of the CyberCarpet platform
- Locomotion and telepresence
For solving regulation, tracking, or interaction control problems, I have been using several control design approaches, e.g., feedback linearization (static, dynamic, partial state), input-output decoupling, Lyapunov-based control, learning, iterative steering, inversion in frequency domain, nonlinear regulation.