ABOUT ME
A short bio
Danilo Caporale
PhD in Control Systems
Danilo Caporale was born in Lanciano, Italy, in 1987. He received the Bachelor and Master of Science degrees in Automation and Control Engineering in 2009 and 2011, respectively, from the Politecnico di Milano. In 2015 he received the Ph.D. degree in Information Technology from the same institution, with a thesis on robust control devices for railway traction and braking, with the collaboration of Alstom Transport Italy and the support of Associazione Eugenio e Germana Parizzi. During his Ph.D. studies, he spent visiting periods at Imperial College, UK, at University of Newcastle, NSW, Australia, and, as a Rocca Fellow, at Massachusetts Institute of Technology, USA. Since 2015 he is a Post-Doc Researcher at Centro di Ricerca E. Piaggio, Universita' di Pisa, where he is working in the EU Project Walk-Man on planning and control algorithms for applications to whole-body humanoid robot control. His research interests are robust and optimal control, with applications to vehicle, biological and humanoid robotic systems. Danilo Caporale was born in Lanciano, Italy, in 1987. He received the B.S. and M.S. degrees in control engineering in 2009 and 2011, respectively, from the Politecnico di Milano. In 2015 he received the Ph.D. degree in information technology from the same institution, with a thesis on robust control devices for railway traction and braking with the support of Alstom Transport and Associazione Eugenio e Germana Parizzi. During his Ph.D. studies, he spent visiting periods at Imperial College, UK, at University of Newcastle, NSW, Australia, and, as a Rocca Fellow, at Massachusetts Institute of Technology, USA. Since 2015 he is with Centro di Ricerca E. Piaggio, Università di Pisa, where he is working in the EU Project Walk-man. His research interests are in the field of robust and optimal control, vehicle, biological and humanoid robotics systems.
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Research interests
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Sample based planning
One of the main challenges in humanoid robotics is the possibility of efficient planning for high degrees of freedom mechanical systems that are subject to dynamical constraints. In this area, the focus of our research group is that of obtaining feasible plans that combine multiple motion primitives to realize stable motions of the robot.
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Whole-body control of humanoid robots
State of the art control methods for humanoid robots with rigid actuators has reached a maturity level that allows for complex motions to be performed in uncertain environments with a relatively low failure rate. The purpose of our research is to find innovative methods to push the performance of robots with Series Elastic Actuators and Variable Stiffness Actuators. The advantage provided by intrinsic compliance in the mechanical system poses interesting problems to be solved both at a theoretical and practical level. In this direction, our purpose is to give the humanoid robot Walk-Man unprecedented abilities in terms of safe interactions with the environment and energetic efficiency of the motion.
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Control methods for applications to Vehicle systems
Most of the performance of modern vehicle systems are determined by on-board electronics and the performance of control algorithms. My interest is about applications of modern control techniques to such systems.
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Control methods for applications to Biological systems
With recent advances in biological systems new opportunities arise in disease treatment that can be studied with techniques of control. My interest is in the study on the effect of diseases on populations and individuals, and the interaction between drugs and the human body.
