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Enrico Mingo

Humanoids & Human Centered Mechatronics
Centri di ricerca
Humanoid robotics, Inverse Kinematics, Inverse Dynamics, Floating-base systems, Optimization, Optimal Control, Control, Planning, Software
Enrico Mingo Hoffman received his Bachelor's Degree in Electronics Engineering and Master's Degree in Artificial Intelligence and Robotics (cum laude), both at University of Rome "La Sapienza", in 2008 and 2011 respectively. In 2011 he had the opportunity to experience the RoboCup competition, participating in the Standard Platform League as part of the SPQR team of the University of Rome "La Sapienza". In 2012 he was employed as Robotics Engineer in PAL Robotics, Barcelona, working on the REEM-H Project. During this period he developed algorithms for navigation, Simultaneous Localization and Mapping (SLAM) and localization for a humanoid robot mounted on a mobile base platform. In 2016 he got a Ph.D. in Robotics, Cognition and Interaction Technologies at the Istituto Italiano di Tecnologia (IIT) and University of Genoa. In 2015 he participated in the DARPA Robotics Challenge (DRC) as a main member of the WALK-MAN Team, from IIT. During this period he mainly works with the humanoid platforms COMAN and participate to the development of the WALK-MAN robot. His PhD focus on modelling, simulation and control of floating-base robots, algorithms for hierarchical whole-body inverse kinematics and Cartesian impedance control. He also contributed for the establishment of the software infrastructure of the Advanced Robotics (ADVR) and Humanoids & Human Centered Mechatronics (HHCM) labs. In 2016 he became Post-Doc in IIT researching on hierarchical whole-body Inverse Dynamics, hierarchical whole-body Cartesian impedance control, tele-operation, motion planning and locomotion. He also contributed in the field of software architectures for humanoid robots. During this period he participated to the development of the COMAN+ and CENTAURO platforms. At the moment he is a Researcher in the HHCM group, in IIT. His main interests are kinematics and dynamics of robots, fixed and floating base robot motion control, manipulation, impedance and force control, task space whole-body control, compliant interaction, planning, locomotion and robotic software development.