Curriculum Vitae

Personal Information

Working Experiences

• January 2023 – Present
  👨‍💻 Scrum Master of the Robust, Reactive and Dynamic Locomotion Group at IIT
  Responsibilities: Leading a team of nine researchers developing a safe, autonomous locomotion architecture for humanoid robots.
  🏆 Achievement: Featured ergoCub robot walking on national Italian television
• August 2022 – Present
  🔬 Postdoctoral Researcher at IIT - Artificial and Mechanical Intelligence
  Topic: Optimal control and supervised learning for humanoid robot bipedal locomotion
• January 2020 – November 2022
  🤖 Locomotion Group Leader for the iCub Team at the ANA Avatar Xprize
  Achievement: Designed locomotion and teleoperation architecture for ANA Avatar XPRIZE competition (Video, Details)

Education Experiences

• November 2018 – August 2022
  🎓 PhD in Advanced and Humanoid Robotics, IIT and University of Genoa
  Thesis: Online Control of Humanoid Robot Locomotion
• October 2021 – December 2021
  🌍 Visiting PhD Student at LAAS - CNRS
  Topic: Modeling and control of hip flexibility in humanoid robot TALOS
• 2014 – 2018
  📘 Master of Science in Robotics and Automation Engineering, University of Pisa
  Grade: 110/110 cum Laude
  Thesis: Capture-Point Based Controllers for Robot Bipedal Locomotion

Selected Publications

• 2024: Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
  📚 Conference: IEEE International Conference on Humanoid Robotics (Humanoids)
  Paper, Website
• 2024: [Workshop] Designing Interactive Humanoids: Learning Tasks through Interaction with Humans
  🗂 Conference: IEEE International Conference on Humanoid Robotics (Humanoids)
  Workshop Website
• 2024: iCub3 Avatar System: Enabling Remote Fully Immersive Embodiment of Humanoid Robots
  📰 Journal: Science Robotics
  Paper
• 2022: Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility
  📖 Conference: IEEE International Conference on Humanoid Robotics (Humanoids)
  Paper
• 2022: Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
  📖 Journal: IEEE Transactions on Robotics (T-RO)
  Paper
• 2022: Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
  📚 Conference: IEEE International Conference on Robotics and Automation (ICRA)
  Paper, GitHub
• 2022: ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots
  📰 Journal: IEEE Robotics and Automation Letters (RA-L)
  Paper
• 2021: Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
  📚 Journal: IEEE Robotics and Automation Letters (RA-L)
  Paper, GitHub
• 2019: A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
  📖 Journal: International Journal of Humanoid Robotics
  Paper, GitHub

📚 For the complete list of publications, visit my Google Scholar profile.

Honors & Awards

• 2024: 🏅 Best Oral Presentation Finalist at IEEE Humanoids 2024
  Details
• 2021: 🥈 Runner-up Best Poster Award at NAVER LABS Europe AI for Robotics Workshop
  Details

Skills & Competencies

• Programming Languages: 💻 C++, Python, MATLAB, TOML
• Libraries: 📚 Eigen3, iDynTree, osqp, IPOPT, casadi, Qt, YARP, ROS2, PyTorch
• Languages: 🗣 Italian (mother tongue), English (Proficient User)

Software Maintainer

• Bipedal Locomotion Framework: GitHub
• osqp-eigen: GitHub
• Walking Controllers: GitHub