Originally from the Rome area, I obtained my Bachelor's and Master's degrees at the University of Pisa, respectively in Computer Engineering and Robotics and Automation Engineering.
I performed my Master's thesis research at Centro Piaggio, under the supervision of prof. Antonio Bicchi, and at DLR at the Robotics and Mechatronics group, under the supervision of Andreas Stemmer and Alin Albu-Schaeffer: my thesis work has been predominantly on the assembly problem with compliant robots (bimanual assembly with a VSA in Pisa, stiffness selection for assembly with the KUKA LWR at DLR).
I am a PhD student and Research Fellow at IIT starting from January 2013, working for the Softhands project.
In 2014 I started working on the OpenSoT project, that has now grown to be the IK engine used in the DRC competition by IIT's walk-man robot. You can take a look at the page of the team on DRC's website, while an introductory video of OpenSoT is available here.
Other work I performed in the last year has been on the Gazebo simulator, in particular developing YARP plugins to simulate our YARP-powered robots. In particular I worked on force/torque sensors implementation, time-synchronization between wall-time and simulation-time in YAP/Gazebo and in the wrapping of control mode switching in simulation and on the physical robot. I worked together with Daniele Domenichelli on the Walk-man super-build system and developed tools to streamline robot model generation for Gazebo. In the last year together with my colleages in the team I pushed to enforce the practice of unit testing in our research code, which resulted in writing thousands of lines of unit test code as part of the OpenSoT and idynutils projects.
L. Balletti, A. Rocchi, F. Belo, M. Catalano, M. Garabini, G. Grioli and A. Bicchi - Towards variable impedance assembly: the VSA peg-in-hole - Proceedings of 2012 IEEE-RAS International Conference on Humanoid Robots, Nov. 29th - Dec. 1st, 2012