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People ■ Michele Focchi
Michele Focchi's foto

Michele Focchi

PostDoctoral Researcher (senior)

ADVR / Dynamic Legged Systems

Post Doc
Address via Morego 30
City Genova ZIP Code 16163
Country Italy
Phone +39 010 71781
Mobile Phone +39 339 8971902
IM Address michelefocchi (Skype)

Bio

Michele Focchi was born in Rimini, Italy. He holds a Master of Science in Control
System Engineering from Politectico di Milano in 2007. His final project dealt
with dynamic modelling of hydraulic turbines for energy generation carried out
at the Federal University of Santa Catarina, Brazil. Until 2008 he worked at the
R&D department of Indesit company where he worked with design and dynamic
modeling of hydraulic, thermal and mechanical phenomena and system identification
for house appliances. On the 2009 he was employed as a fellow at the Advanced
Robotic Department (ADVR) at IIT developing a prototype of Novel concept for
an air-pressure driven micro-turbine for power generation for which he obtained
an international patent and several awards. He also gained some experience with
force control with pneumatic muscles. In 2010 he started a PhD getting involved
in the Hydraulically Actuated Quadruped Robot project at the Dynamic Legged
Systems Laboratory at ADVR where he was  involved on development of
  low-level controllers for locomotion purposes. Currently his research interests range from

dynamic locomotion with legged robots, whole body control and planning, to actuation technologies.

Projects

Currently I am deeply involved in the following projects:

 

I have been the first one in the world to realize a "chimney-climb" walk with a 80 kg quadruped robot:

[video chimney climb 2014]

The paper descriving the implemented whole body controller (for quasi-static walk with optimization of contact forces) is:

[paper on chimney climb]

Coming soon the extension to the dynamic case with joint and torque constraints


Slip recovery for quadruped robots: a simple strategy to online detect, estimate slippage and recover from it, exploiting the optimization capabilities of the whole body framework.

[paper on slip recovery (ISRR 2015)]

 

 

IIT Publications

  • 2014 - Magnetorheologically Damped Compliant Foot for Legged Robotic Application
    Kostamo E., *Focchi M., Guglielmino E., Kostamo J., *Semini C., Buchli J., Pietola M. and *Caldwell D. G.
    Journal of Mechanical Design, vol. 136, pp. 021003-1/8, 1050-0472
  • 2014 - Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots
    *Winkler A., *Havoutis I., *Bazeille S., *Ortiz J., *Focchi M., Dillmann R., *Caldwell D. G. and *Semini C.
    2014 IEEE International Conference on Robotics and Automation, pp. 6476-6482, Hong Kong, China, May 31-June 7, 2014, 2014
  • 2014 - Quadruped robot trotting over irregular terrain assisted by stereo-vision
    *Bazeille S., *Barasuol V., *Focchi M., *Havoutis I., *Frigerio M., Buchli J., *Caldwell D. G. and *Semini C.
    Intelligent Service Robotics, vol. 7, pp. 67-77, 1861-2776
  • 2013 - Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion
    *Focchi M., Barasuol V., *Havoutis I., Buchli J., *Semini C. and *Caldwell D. G.
    16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 443-450, Sydney, July 14-17, 2013
  • 2013 - Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain
    *Bazeille S., Barasuol V., *Focchi M., *Havoutis I., *Frigerio M., Buchli J., *Semini C. and *Caldwell D. G.
    The 5th Annual IEEE International Conference on Technologies for Practical Robot Applications, pp. 143-149, Greater Boston Area, Massachusetts, USA April 22-23, 2013
  • 2012 - Design and Scaling of Versatile Quadruped Robots
    *Semini C., *Khan H., *Frigerio M., Boaventura-Cunha T., *Focchi M., *Buchli J. and *Caldwell D. G.
    Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, pp. 273-280, Baltimore, USA, 23-26 july 2012
  • 2012 - Dynamic Torque Control of a Hydraulic Quadruped Robot
    Boaventura-Cunha T., *Semini C., *Buchli J., *Frigerio M., *Focchi M. and *Caldwell D. G.
    2012 IEEE International Conference on Robotics and Automation, pp. 1889-1894, St. Paul Minnesota USA
  • 2012 - On the role of load motion compensation in high-performance force control
    Boaventura-Cunha T., *Focchi M., *Frigerio M., *Buchli J., *Semini C., *Medrano Cerda G. A. and *Caldwell D. G.
    IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4066-4071, Vilamoura, Algarve, Portugal, OCTOBER 7-12, 2012
  • 2012 - Torque-control Based Compliant Actuation of a Quadruped Robot
    *Focchi M., Boaventura-Cunha T., *Semini C., *Frigerio M., *Buchli J. and *Caldwell D. G.
    The 12th IEEE International Workshop on Advanced Motion Control, Sarajevo, March 25-27 2012
  • 2011 - Design of HyQ - a hydraulically and electrically actuated quadruped robot
    *Semini C., *Tsagarakis N. G., *Guglielmino E., *Focchi M., *Cannella F. and *Caldwell D. G.
    Proceedings of the Institution of Mechanical Engineers PART I-Journal of Systems and Control Engineering, vol. 225, (no. 6), pp. 831-849, SAGE, 0959-6518
  • 2011 - HyQ - a dynamic locomotion research platform
    *Semini C., *Buchli J., *Frigerio M., Boaventura-Cunha T., *Focchi M., *Guglielmino E., *Cannella F., *Tsagarakis N. G. and *Caldwell D. G.
    International Workshop on Bio-Inspired Robots
  • 2011 - Novel Concept for an air-pressure driven micro-turbine for power generation
    *Focchi M., Persico G., *Guglielmino E. and *Caldwell D. G.
    ASME Turbo Expo 2011, pp. 811-822, Vancouver, Canada, June 06-10, 2011
  • 2010 - Control of a Hydraulically-Actuated Quadruped Robot Leg
    Focchi M., Guglielmino E., Semini C., Boaventura-Cunha T., Yang Y. and Caldwell D. G.
    2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010
  • 2010 - Water/Air Performance Analysis of a Fluidic Muscle
    *Focchi M., *Guglielmino E., *Semini C., *Parmiggiani A., *Tsagarakis N. G., *Vanderborght B. and *Caldwell D. G.
    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan

Highlighted Publications

  • 2013 - Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion
    Focchi, M.; Barasuol V.; Havoutis I.,Buchli, J.; Semini C. and Caldwell, D.G.
    16th Int. Conf. on Climbing and Walking Robots (CLAWAR), Sydney, Australia
  • 2013 - Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces
    Zapoilsky, S.; Drumwright, E.; Havoutis, I.; Buchli, J. & Semini, C.
    16th International Conference on Climbing and Walking Robots (CLAWAR), Sydney, Australia
  • 2013 - Vision enhanced reactive locomotion control for trotting on rough terrain
    Bazeille, S.; Barasuol, V.; Focchi, M.; Havoutis, I.; Frigerio, M.; Buchli, J.; Semini, C. and Caldwell, D. G.
    IEEE International Conference on Technologies for Practical Robot Applications (TePRA), Boston, USA

Awards

  • 1st  prize ''Premio Nazionale Innovazione'', Bari, 2013 (25keuro)
  • 1st prize ''StartCup il sole 24 ore'', Genova, 2012
  • 1st prize ''ItaliaCamp'', Verona, 2012

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