All Projects

Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain

  • The Goal:This work involved traversing no-mercy terrains, where one misstep could be critical. The work involved the use of motion planning, Model Predictive Control, terrain probing and load-bearing analysis..
  • My Contribution: I was involved in all aspects of the projects, including designing and building the wooden platform used for the experiments. On top of that I took care of running the real robot experiments on my own. I took care of integrating the controller on the propertary dls framework base on ROS 1. I tuned the mpc on the robot, added the mapping frameowrk base on the eth elevation map.
  • Tech Stack: ROS, C++, Python, Trajectory Optimization, MPC, Elevation Mapping, Foothold Adaptation, Real Hardware Integration
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Vinum Project

  • Core Challenge: The main goal of the VINUM is to develop robotics solution for grapevine winter pruning automation.
  • My Contribution: I worked across multiple parts of the project, developing mobile navigation for guiding a platform between orchard pots and integrating MoveIt with ROS 1 to enable motion planning with a floating-base system. I also improved the manipulation framework to handle more challenging cutting scenarios. During the project, I worked with real hardware—including a Summit XL, the HyQReal robot, and a Kinova arm with a custom end effector—and participated in five field tests, gaining hands-on experience with real-world integration challenges.
  • Tech Stack: ROS, C++, Python, Motion Planning, Control, MoveIT, Computer Vision, Mapping and Localization, Sensor Integration, Field Testing
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Other Activities

During my PhD I also took part in different activities:

  • Machine Learning Crash Course, MALGA, University of Genova (2024)
  • Optimization for Robotics Summer School, University of Patras (2025)
  • Dissemination Activities,Exposcuola 2024, Robot Valley 2025, Mechatronics Days PoliTo 2025, demos and workshops