1 minute read

Michele Focchi is currently a Researcher at the DLS team in IIT. He received both the Bsc. and the Msc. in Control System Engineering from Politecnico di Milano. After gaining some R\&D experience in the industry, in 2009 he joined IIT where he developed a micro-turbine for which he obtained an international patent. In 2013, he got a PhD in robotics, getting involved in the Hydraulically Actuated Quadruped Robot project. He initially was developing torque controllers for locomotion purposes, subsequently he moved to higher level (whole-body) controllers and model identification. He was also investigating locomotion strategies that are robust to uncertainties an work reliably on the real platform. Currently his research interests are focused on pushing the performances of quadruped robots in traversing unstructured environments, by using optimization-based planning strategies to perform dynamic planning. He published more than 35 papers in international journals and conferences and supervised several master and one PhD and thesis.

Previous works:

  • Design of a micro-turbine for power generation
  • Design of passive feet
  • Design and control Magneto-rheological dampers
  • Design of foot sensor
  • Torque control on electric motors and hyqdraulics
  • Whole-body control
  • Slip recovery
  • Model identification
  • Development of reactive modules for locomotion (e.g. step reflex, height reflex)
  • Heuristic planning on rough terrain

Projects I am involved:

  • HyQ (ongoing since 2007): development of a versatile platform to study locomotion
  • ECHORD++ HyQREal, www.hyq-real.eu: development of a rugged (dust-proof, water-proof) autonomous quadruped robot, for harsh environments
  • INAIL Teleop (ongoing since 2017): applications of a centaur-like machine to search & rescue
  • UniCatt (ongoing since 2017), vinum-robot.eu: application of our legged robots to agricultural tasks
  • Vodafone (ongoing since 2018), www.vodafone5g.it: implementing the next generation of telecommunication standards on out robots.