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Giulia Vezzani Write a Message

PhD/Fellow

Contacts

Via Morego, 30

Social profiles

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About

I got my Bachelor's degree in Electronic and Telecommunications Engineering (cum laude) in 2013 at the Universita` degli Studi di Firenze. In the same university, in 2015, I held my Master's degree (cum laude) in Electrical and Automation Engineering, with the dissertation of the thesis "3D object tactile localization for the humanoid robot iCub".

Currently, I am a PhD fellow in Bioengineering and Advanced Robotics - curriculum Advanced and Humanoid Robotics - at the Istituto Italiano di Tecnologia in Genova. The goal of my PhD program is to improve object localization and manipulation for humanoid robots, by exploiting both visual and tactile information and to implement and test the developed techniques on the humanoid robot iCub.

Interests

Grasping Localization 3D object modeling Perception Manipulation Vision Tactile sensors Deep Reinforcement Learning

Projects

Improving Superquadric Modeling and Grasping with Prior on Object Shapes                                   [ICRA 2018]

This work improves our previous approach based on superquadric functions. In particular, we speed up and refine the modeling process by using prior information on the object shape provided by an object classifier. We use our previous method for the computation of grasping pose to obtain pose candidates for both the robot hands and, then, we automatically choose the best candidate for grasping the object according to a given quality index.

More information are available at this link.

 

 

A Grasping Approach Based on Superquadric Models                                                                    [ICRA 2017]

We propose a novel approach in which the grasping problem is solved by modeling the object and the volume graspable by the hand with superquadric functions. The object model is computed in real-time using stereo vision. Pose computation is formulated as a nonlinear constrained optimization problem, which is solved in real-time using the Ipopt software package. Notably, our method finds solutions in which the fingers are located on portions of the object that are occluded by vision.

 

 

A Novel Pipeline for Bi-manual Handover Task                                                               [Advanced Robotics 2017]

This paper addresses the problem of bi-manual object handover with a humanoid robot, i.e. the task of passing objects from one hand to the other. We propose a novel and effective pipeline that tackles the problem by using visual and tactile information. Given the object in one of the robot hand (first hand), the object in-hand pose is estimated by a localization algorithm, which makes use of vision and tactile information. Then, the estimated pose is used in order to automatically choose a suitable pose for the second hand among a set of candidates a-priori annotated on the object model. The selected pose is finally used to accomplish the handover task.

 

 

Memory Unscented Particle Filter for 6-DOF Tactile Localization                                                        [TRO 2017]

This paper addresses 6-DOF (degree-of-freedom) tactile localization, i.e. the pose estimation of tridimensional objects given tactile measurements.The nature of tactile measurements, the strict time requirements for real-time operation and the multimodality of the involved probability distributions pose remarkable challenges and call for advanced nonlinear filtering techniques. Following a Bayesian approach, this paper proposes a novel and effective algorithm, named Memory Unscented Particle Filter (MUPF), which solves 6-DOF localization recursively in real-time by only exploiting contact point measurements. MUPF combines a modified particle filter that incorporates a sliding memory of past measurements to better handle multimodal distributions, along with the unscented Kalman filter that moves the particles towards regions of the search space that are more likely with the measurements.

Application: A Novel Bayesian Filtering Approach to Tactile Object Recognition                                                                             [Humanoids 2016]

 

 

Awards

RAS Travel Grant, at IEEE International Conference on  Robotics and Automation (ICRA), Singapore, May- June 2017

Travel grants supported by the IEEE Robotics and Automation Society  are available for selected students travelling to the conference with one accepted paper at ICRA 2017.

Dr. Kanako Miura Travel Support Award, at IEEE International Conference on Humanoids Robotics, Cancun, Mexico, November 2016

In recognition of Dr. Kanako Miura's contributions to Humanoid Robotics, the Miura Memorial Award was initiated in 2013 and supported by the IEEE RAS Technical Committee on Humanoid Robotics. The goal is to assist PhD and MS female students entering the field with a travel support to Humanoid 2016.

Renato Mariani Award 2015, provided by AEIT, sezione Toscana e Umbria

Renato Marian Award  gives credit to the studies and efforts of one of the students graduated in Engineering at the University of Florence.

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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.