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Research Line

Humanoids & Human Centered Mechatronics

Center

IIT Central Research Lab Genova

Contacts

Projects

 

  • CogIMon   - European Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727.
  • Walk-Man - FP7 European project (ICT 2013-10).
  • AMARSi   - FP7 European project (ICT-248311).
    .

 

Selected Publications

Journal Articles

[J5] Z. Li, C. Zhou, Q. Zhu, and R. Xiong, “Humanoid balance recovery with actively controlled under-actuation,” IEEE Transactions on Robotics, vol. PP, no. 99, pp. 1–15, 2017.

[J4] C. Zhou, X. Wang, Z. Li, and N. Tsagarakis, ”Overview of gait synthesis for the humanoid COMAN," Journal of Bionic Engineering, vol. 14, no. 1, pp. 15-25, 2017, (selected as the cover paper of JBE's 1st issue in 2017).

[J3] C. Zhou, Z. Li, X. Wang, N. Tsagarakis, and D. Caldwell, “Stabilization of bipedal walking based on compliance control," Autonomous Robots, vol. 40, pp. 1041-1057, 2016.

[J2] Z. Li, C. Zhou, N. Tsagarakis, and D. Caldwell, ”Compliance control for stabilizing a humanoid on the changing slope based on terrain inclination estimation," Autonomous Robots, vol. 40, pp. 955-971, 2016.

[J1] J. Castano, Z. Li, C. Zhou, N. Tsagarakis, and D. Caldwell, “Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control," International Journal of Humanoid Robotics, vol. 13, 1550041 (44 pages), 2016.

 

Conference Papers

[C11] Y. You, C. Zhou, Z. Li, and N. Tsagarakis, “A study of nonlinear forward models for dynamic walking,” in IEEE International Conference on Robotics and Automation, Singapore, May 2017, pp. 3491–3496.

[C10] Y. You, S. Xin, C. Zhou, and N. Tsagarakis, "Straight leg walking strategy for torque-controlled humanoid robots," in IEEE International Conference on Robotics and Biomimetics, Qingdao, China, Dec. 2016, pp. 2014-2019.

[C9] C. Zhou, C. Fang, X. Wang, Z. Li, and N. Tsagarakis, 'A generic optimization-based framework for reactive collision avoidance in bipedal locomotion," in IEEE Conference on Automation Science and Engineering, Fort Worth, TX, USA, Aug. 2016, pp. 1026-1033.

[C8] J. Castano, C. Zhou, Z. Li, and N. Tsagarakis, 'Robust Model Predictive Control for humanoids standing balancing," in IEEE International Conference on Advanced Robotics and Mechatronics, Macau, China, Aug. 2016, pp. 147-152, (Best Paper Award Finalist).

[C7] C. Zhou, X. Wang, Z. Li, D. Caldwell, and N. Tsagarakis, 'Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sep. 2015, pp. 1599-1604.

[C6] Z. Li, C. Zhou, Q. Zhu, R. Xiong, N. Tsagarakis, and D. Caldwell, 'Active controlof under-actuated foot tilting for humanoid push recovery," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sep. 2015, pp. 977-982.

[C5] W. Choi, C. Zhou, G. Medrano-Cerda, D. Caldwell, and N. Tsagarakis, 'A new foot sole design for humanoids robots based on viscous air damping mechanism," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sep. 2015, pp. 4498-4503.

[C4] Z. Li, C. Zhou, J. Castano, X. Wang, F. Negrello, N. Tsagarakis, and D. Caldwell, "Fall prediction of legged robots based on energy state and its implication of balance augmentation: a study on the humanoid," in IEEE International Conference on Robotics and Automation, Seattle, USA, May 2015, pp. 5094-5100.

[C3] Z. Li, C. Zhou, H. Dallali, N. Tsagarakis, and D. Caldwell, 'Comparison study of two inverted pendulum models for balance recovery," in IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, Nov. 2014, pp. 67-72.

[C2] J. Castano, A. Hernandez, Z. Li, C. Zhou, N. Tsagarakis, D. Caldwell, and R. De Keyser, 'Implementation of robust EPSAC on dynamic walking of COMAN humanoid," in 19th World Congress: The International Federation of Automatic Control, Aug. 2014, pp. 8384-8390.

[C1] C. Zhou, Z. Li, J. Castano, H. Dallali, N. Tsagarakis, and D. Caldwell, "A passivity based compliance stabilizer for humanoid robots," in IEEE International Conference on Robotics and Automation, Hong Kong, China, May 2014, pp. 1487-1492.

 

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I numeri di IIT

L’Istituto Italiano di Tecnologia (IIT) è una fondazione di diritto privato - cfr. determinazione Corte dei Conti 23/2015 “IIT è una fondazione da inquadrare fra gli organismi di diritto pubblico con la scelta di un modello di organizzazione di diritto privato per rispondere all’esigenza di assicurare procedure più snelle nella selezione non solo nell’ambito nazionale dei collaboratori, scienziati e ricercatori ”.

IIT è sotto la vigilanza del Ministero dell'Istruzione, dell'Università e della Ricerca e del Ministero dell'Economia e delle Finanze ed è stato istituito con la Legge 326/2003. La Fondazione ha l'obiettivo di promuovere l'eccellenza nella ricerca di base e in quella applicata e di favorire lo sviluppo del sistema economico nazionale. La costruzione dei laboratori iniziata nel 2006 si è conclusa nel 2009.

Lo staff complessivo di IIT conta circa 1440 persone. L’area scientifica è rappresentata da circa l’85% del personale. Il 45% dei ricercatori proviene dall’estero: di questi, il 29% è costituito da stranieri provenienti da oltre 50 Paesi e il 16% da italiani rientrati. Oggi il personale scientifico è composto da circa 60 principal investigators, circa 110 ricercatori e tecnologi di staff, circa 350 post doc, circa 500 studenti di dottorato e borsisti, circa 130 tecnici. Oltre 330 posti su 1400 creati su fondi esterni. Età media 34 anni. 41% donne / 59 % uomini.

Nel 2015 IIT ha ricevuto finanziamenti pubblici per circa 96 milioni di euro (80% del budget), conseguendo fondi esterni per 22 milioni di euro (20% budget) provenienti da 18 progetti europei17 finanziamenti da istituzioni nazionali e internazionali, circa 60 progetti industriali

La produzione di IIT ad oggi vanta circa 6990 pubblicazioni, oltre 130 finanziamenti Europei e 11 ERC, più di 350 domande di brevetto attive, oltre 12 start up costituite e altrettante in fase di lancio. Dal 2009 l’attività scientifica è stata ulteriormente rafforzata con la creazione di dieci centri di ricerca nel territorio nazionale (a Torino, Milano, Trento, Parma, Roma, Pisa, Napoli, Lecce, Ferrara) e internazionale (MIT ed Harvard negli USA) che, unitamente al Laboratorio Centrale di Genova, sviluppano i programmi di ricerca del piano scientifico 2015-2017.

IIT: the numbers

Istituto Italiano di Tecnologia (IIT) is a public research institute that adopts the organizational model of a private law foundation. IIT is overseen by Ministero dell'Istruzione, dell'Università e della Ricerca and Ministero dell'Economia e delle Finanze (the Italian Ministries of Education, Economy and Finance).  The Institute was set up according to Italian law 326/2003 with the objective of promoting excellence in basic and applied research andfostering Italy’s economic development. Construction of the Laboratories started in 2006 and finished in 2009.

IIT has an overall staff of about 1,440 people. The scientific staff covers about 85% of the total. Out of 45% of researchers coming from abroad 29% are foreigners coming from more than 50 countries and 16% are returned Italians. The scientific staff currently consists of approximately 60 Principal Investigators110 researchers and technologists350 post-docs and 500 PhD students and grant holders and 130 technicians. External funding has allowed the creation of more than 330 positions . The average age is 34 and the gender balance proportion  is 41% female against 59% male.

In 2015 IIT received 96 million euros in public funding (accounting for 80% of its budget) and obtained 22 million euros in external funding (accounting for 20% of its budget). External funding comes from 18 European Projects, other 17 national and international competitive projects and approximately 60 industrial projects.

So far IIT accounts for: about 6990 publications, more than 130 European grants and 11 ERC grants, more than 350 patents or patent applications12 up start-ups and as many  which are about to be launched. The Institute’s scientific activity has been further strengthened since 2009 with the establishment of 11 research nodes throughout Italy (Torino, Milano, Trento, Parma, Roma, Pisa, Napoli, Lecce, Ferrara) and abroad (MIT and Harvard University, USA), which, along with the Genoa-based Central Lab, implement the research programs included in the 2015-2017 Strategic Plan.