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  > Home > People > Gianluca Palli
 
 
   
Gianluca Palli
PhD
 

LAR - D.E.I.S. - Universita' di Bologna

Viale Risorgimento 2
40136 Bologna
Tel.: (+39) 051 20 93186
   (+39) 051 20 93079 (LAR)
Fax: (+39) 051 20 93073
Email: gianluca dot palli at unibo dot it
Skype: gianluca_1977
 

Curriculum Vitae

Dr. Gianluca Palli received the M.Sc. and Ph.D. degrees in automation engineering from the University of Bologna, Bologna, Italy, in 2003 and 2007, respectively. He was a Visiting Student at the Robotic Institute of the German Aerospace Center (DLR), Munich, Germany, in 2006. He is currently an Assistant Professor at the University of Bologna. His research interests include many aspects related to the development of robots able to interact with unstructured environments and to cooperate with humans. He is particularly active in the field of design and control of tendon actuated robots, of anthropomorphic hands for service robotics and grippers for both industrial and underwater applications, on the design, modelling and control of robots with variable stiffness joints, the design of compliant structures for robotics applications, on the development of innovative actuation systems based on the twisted string concept and electro-active polymers, on the development of compact and cheap position and force sensors based on optoelectronic technology and on the development of real-time systems for control applications.

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Research Interests

 

My research activity is focused on robotics, in particular on the design and control of complex mechatronic devices like anthropomorphic robot hands. Other research interests are mainly in the areas of tendon transmission control in presence of static and dynamic friction, and position/force control of kinematic chains with flexible links and elastic joints.

In the field of industrial application, I work in the design of robotic tools for collaborative robots and complex manufacturing activities. I'm the coordinator of the ECHORD++ WIRES experiment devoted to the development of robotized solutions for switchgear wiring.

As for tendon transmission control, I am studying control strategies for static and dynamic friction compensation and innovative transmission system like the Twisted String Actuation (TSA). The main target of this control problem is to improve the performance of tendon driving system used in robotic hands. Particular attention is given to the modelling of the tendon-sheath transmission characteristic with the aim of developing a suitable controller for the compensation of the friction effects between tendon and sheath, both in static and dynamic conditions. The problem is strongly nonlinear and is very hard to obtain a reliable model of static friction.

My research activity includes also real-time operating systems, in particular RTAI-Linux, and the development of real-time control algorithms. I have developed, with the fundamental help of some under-graduated students, the real time software architecture for the control of several robotic manipulator, the COMEDI driver for the Sensoray 626 DAQ board, and XRTAI-LIB, an xrtailab interface library.

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Publications

Master Thesis:

  • G. Palli, " Modellazione e Controllo Tramite Visual Servoing per Mani Robotiche Articolate " , (in Italian), University of Bologna, June 2003.

PhD Thesis:

  • G. Palli, " Model and Control of Tendon Actuated Robots " , University of Bologna, May 2007.

Books:

  • R. Carloni, C. Melchiorri, G. Palli, " Esercizi di Controlli Automatici e Teoria dei Sistemi " , (in Italian), Editrice Esculapio, September 2008.

Book Chapters:

  • G. Palli, L. Moriello, C. Melchiorri, " Experimental Evaluation of Sealing Materials in 6-Axis Force/Torque Sensors for Underwater Applications " , R. Moreno-Diaz et al. (Eds.), Computer Aided Systems Theory - EUROCAST 2015, Lecture Notes in Computer Science, no. 9520, pp 841-852, doi: 10.1007/978-3-319-27340-2_103, Springer International Publishing, 2015.
  • F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, " Postural Synergies and Neural Network for Autonomous Grasping: a Tool for Dextrous Prosthetic and Robotic Hands " , J.Pons et al. (Eds.), Converging Clinical and Engineering Research on Neurorehabilitation, Biosystems & Biorobotics, no. 1, pp. 467-480, doi: 10.1007/978-3-642-34546-3_76, Springer Berlin Heidelberg, 2013.
  • F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, " Mapping Grasps from the Human Hand to the DEXMART Hand by means of Postural Synergies and Vision " , Springer Tracts in Advanced Robotics (STAR), Experimental Robotics, no. 88, pp. 515-529, doi: 10.1007/978-3-319-00065-7_35, 2013.
  • G. Palli, C. Melchiorri, G. Vassura, G. Berselli, S. Pirozzi, C. Natale, G. De Maria, C. May, " Innovative Technologies for the Next Generation of Robotic Hands " , Springer Tracts in Advanced Robotics (STAR), Advanced bimanual manipulation, pp. 173-218, doi: 10.1007/978-3-642-29041-1_4, 2012.
  • L. Villani, F. Ficuciello, V. Lippiello, G. Palli, F. Ruggiero, B. Siciliano, " Grasping and Control of Multifingered Hands " , Springer Tracts in Advanced Robotics (STAR), Advanced bimanual manipulation, pp. 219-266, doi: 10.1007/978-3-642-29041-1_5, 2012.
  • G. Berselli, G. Palli, R. Falconi, C. Melchiorri, G. Vassura, " Task Analysis and Kinematic Design of a Novel Robotic Chair for the Management of Top-shelf Vertigo " , on IN-TECH Advances in Robot Manipulators, doi: 10.5772/9207, Marzo 2010.

Journals:

  • G. Palli, M. Hosseini, C. Melchiorri, " A Simple and Easy-to-Build Optoelectronics Force Sensor Based on Light Fork: Design Comparison and Experimental Evaluation, " , Sensors and Actuators A: Physical, Volume 261, 1 July 2017, Page(s): 228-239, ISSN 0924-4247, https://doi.org/10.1016/j.sna.2017.04.023.
  • M. Hosseini, R. Meattini, G. Palli, C. Melchiorri, " A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications, " , Journal of Robotics, 2017, art. no. 3036468, DOI: 10.1155/2017/3036468.
  • G. Casalino, M. Caccia, S. Caselli, C. Melchiorri, G. Antonelli, A. Caiti, G. Indiveri, G. Cannata, E. Simetti, S. Torelli, A. Sperinde', F. Wanderlingh, G. Muscolo, M. Bibuli, G. Bruzzone, E. Zereik, A. Odetti, E. Spirandelli, A. Ranieri, J. Aleotti, D. Lodi Rizzini, F. Oleari, F. Kallasi, G. Palli, U. Scarcia, L. Moriello, E. Cataldi, " Underwater Intervention Robotics: An Outline of the Italian National Project MARIS " , Marine Technology Society Journal, Volume 50, Number 4, July/August 2016, Page(s): 98-107(10).
  • G. Palli, S. Pirozzi, C. Natale, G. De Maria, C. Melchiorri, " Experiments of Fine Manipulation Tasks with Dexterous Robotic Hands " , Meccanica, doi: 10.1007/s11012-015-0217-x, Volume 50, Issue 11, Page(s): 2767-2780, 2015.
  • D. Ribas, P. Ridao, A. Turetta, C. Melchiorri, G. Palli, J. J. Fernandez, P. J. Sanz, " I-AUV mechatronics integration for the TRIDENT FP7 project " , IEEE/ASME Transaction on Mechatronics, Volume 20, Issue 5, Page(s): 2583-2592, doi: 10.1109/TMECH.2015.2395413, 2015.
  • G. Palli, L. Moriello, U. Scarcia, C. Melchiorri, " Development of an Optoelectronic 6-axis Force/Torque Sensor for Robotic Applications " , Sensors & Actuators A: Physical, doi: 10.1016/j.sna.2014.09.023, Volume 220, Page(s): 333 - 346, 2014.
  • G. Palli, S. Pirozzi, " An Optical Torque Sensor for Robotic Applications " , International Journal of Optomechatronics, Volume 7, Issue 4, Page(s): 263-282, doi: 10.1080/15599612.2013.879500, 2014.
  • G. Palli, C. Melchiorri, " Friction Compensation Techniques for Tendon-Driven Robotic Hands " , Mechatronics, doi: 10.1016/j.mechatronics.2013.12.006, Volume 24, Page(s): 108-117, 2014.
  • G. Palli, C. Melchiorri, G. Vassura, U. Scarcia, L. Moriello, G. Berselli, A. Cavallo, G. De Maria, C. Natale, S. Pirozzi, C. May, F. Ficuciello, B. Siciliano, " The DEXMART Hand: Mechatronic Design and Experimental Evaluation of Synergy-based Control for Human-like Grasping " , The International Journal of Robotics Research, doi: 10.1177/0278364913519897, Volume 33, Issue 5, Page(s) 799-824, 2014.
  • F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, " Postural Synergies of the UB Hand IV for Human-like Grasping " , Robotics and Autonomous Systems, doi: 10.1016/j.robot.2013.12.008, Volume 62, Issue 4, Page(s): 515-527, 2014.
  • G. Palli, S. Pirozzi, " Integration of an Optical Force Sensor into the Actuation Module of the DEXMART Hand " , International Journal of Robotics and Automation, doi: 10.2316/Journal.206.2014.2.206-3977, volume 29, Issue 2, Page(s): 193-201, 2014.
  • G. Palli, S. Pirozzi, " Optical Sensor for Angular Position Measurements Embedded in Robotic Finger Joints " , Advanced Robotics, Volume 27, Issue 15, Page(s): 1209 - 1220, doi: 10.1080/01691864.2013.813431, 2013.
  • C. Melchiorri, G. Palli, G. Berselli, G. Vassura, " On the Development of the UB-Hand IV: an Overview of Design Solutions and Enabling Technologies " , IEEE Robotics and Automation Magazine, Vol. 20, Issue 3, Page(s): 72-81, doi: 10.1109/MRA.2012.2225471, 2013.
  • G. Palli, S. Pirozzi, " Optical Force Sensor for the DEXMART Hand Twisted String Actuation System " , Sensors & Transducers, Vol. 148, Issue 1, January 2013, Page(s): 28-32.
  • G. Palli, C. Natale, C. May, C. Melchiorri, T. Wurtz " Modelling and Control of the Twisted String Actuation System " , IEEE/ASME Transaction on Mechatronics, Volume: 18, Issue: 2, Page(s): 664 - 673, doi: 10.1109/TMECH.2011.2181855, 2013.
  • G. Palli, S. Pirozzi, " A Miniaturized Optical Force Sensor for Tendon-driven Mechatronic Systems: Design and Experimental Evaluation " , Mechatronics, Volume 22, Issue 8, Pages 1097 - 1111, doi: 10.1016/j.mechatronics.2012.09.005, 2012.
  • G. Palli, G. Borghesan, C. Melchiorri, " Modeling, Identification and Control of Tendon-based Actuation Systems " , IEEE Transaction on Robotics, Volume: 28 , Issue: 2, Page(s): 277 - 290, doi: 10.1109/TRO.2011.2171610, 2012.
  • G. Palli, G. Berselli, C. Melchiorri, and G. Vassura, " Design of a Variable Stiffness Actuator Based on Flexures " , Journal of Mechanisms and Robotics, vol. 3, no. 3, p. 034501 - 5 pages, doi: 10.1115/1.4004228, 2011.
  • G. Palli, C. Melchiorri, " Output-Based Control of Robots with Variable Stiffness Actuation " , Journal of Robotics, doi: 10.1155/2011/735407, 2011.
  • G.Berselli, M. Piccinini, G. Palli and G. Vassura, " Engineering Design of Fluid-filled Soft Covers for Robotic Contact Interfaces: Guidelines, Nonlinear Modeling and Experimental Validation " , IEEE Transaction on Robotics, vol. 27 Issue:3, pages: 436-449, ISSN: 1552-3098, 2011.
  • G. Palli, S. Pirozzi, " Force Sensor Based on Discrete Optoelectronic Components and Compliant Frames " , Sensors & Actuators A: Physical, Volume 165, Issue 2, Page(s) 239-249, DOI:10.1016/j.sna.2010.11.007, 2011.
  • G. Palli, C. Melchiorri, " A Realtime Simulation Environment for Rapid Prototyping of Digital Control Systems and Education " , Automazione & Strumentazione, ANIPLA official Journal, February 2007, N. 2, pag. 98-105.

Conferences:

  • R. Meattini, G. Palli, C. Melchiorri, " Experimental Evaluation of a sEMG-Based Control for Elbow Wearable Assistive Devices During Load Lifting Tasks " , IEEE-RAS-EMBS International Conference on Rehabilitation Robotics, QEII Centre, London, UK, July 17-20, 2017.
  • G. Palli, L. Moriello, U. Scarcia, C. Melchiorri, " An Underwater Robotic Gripper with Embedded Force/Torque Wrist Sensor " , IFAC World Congress, Toulouse, France. 9-14 July, 2017.
  • A. Pepe, M. Hosseini, U. Scarcia, G. Palli, C. Melchiorri, " Development of an Haptic Interface Based on Twisted String Actuators " , IEEE International Conference on Advanced Intelligent Mechatronics, July 3-7, Munich, Germany, 2017.
  • M. Busi, A. Cirillo, D. De Gregorio, M. Indovini, G. De Maria, C. Melchiorri, C. Natale, G. Palli, S. Pirozzi, " The WIRES Experiment: Tools and Strategies for Robotized Switchgear Cabling " , 27th International Conference on Flexible Automation and Intelligent Manufacturing, June 27-30, Modena, Italy, 2017.
  • M. Hosseini, R. Meattini, G. Palli, C. Melchiorri, " Development of sEMG-Driven Assistive Devices Based on Twisted String Actuation " , 3rd International Conference on Control, Automation and Robotics, Nagoya, Japan, April 22-24, 2017.
  • R. Meattini, M. Hosseini, G. Palli, C. Melchiorri, " Early Evaluation of sEMG-Driven Muscle Modelling for Exoskeleton-based Rehabilitation and Assistive Applications " , IEEE Conference on Robotics and Biomimetics, Dec. 3 - 7, Qingdao, China, 2016.
  • G. Palli, M. Hosseini, C. Melchiorri, " Twisted String Actuation with Sliding Surfaces " , IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Oct 9 - 14, 2016.
  • U. Scarcia, G. Berselli, C. Melchiorri, M. Ghinelli, G. Palli, " Optimal Design of 3D Printed Spiral Torsion Springs " , ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Stowe, USA, September 28 - 30, 2016.
  • G. Palli, M. Hosseini, C. Melchiorri, " Experimental Evaluation of Guided Twisted Actuation " , Mechatronics 2016, Loughborough, UK, Sept 5 - 8, 2016.
  • M. Hosseini, G. Palli, C. Melchiorri, " Design and implementation of a simple and low-cost optoelectronic force sensor for robotic applications " , IEEE Conference on Advanced Intelligent Mechatronics, Banff, Canada, July 12-15, 2016.
  • U. Scarcia, C. Melchiorri, G. Palli, " Towards Simplicity: On the Design of a 2-DOFs Wrist Mechanism for Tendon-Driven Robotic Hands " , IEEE Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015.
  • G. Palli, M. Hosseini, L. Moriello, C. Melchiorri, " Modeling and Identification of a Variable Stiffness Joint Based on Twisted String Actuators " , IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sept 28 - Oct 3, 2015.
  • U.Scarcia, K. Hertkorn, C. Melchiorri, G. Palli, T. Wimboeck, " Local Online Planning of Coordinated Manipulation Motion " , IEEE International Conference on Robotics and Automation, Seattle, WA, May 26 - 30, 2015.
  • G. Palli, L. Pan, M. Hosseini, L. Moriello, C. Melchiorri, " Variable Stiffness Joints Based on Twisted String Actuators " , IEEE International Conference on Robotics and Automation, Seattle, WA, May 26 - 30, 2015.
  • G. Palli, L. Moriello, C. Melchiorri, " On the Bandwidth of 6-axis Force/Torque Sensors for Underwater Applications " , MTS/IEEE Oceans series of Conferences OCEANS'15, Genova, Italy, 18-21 May 2015.
  • G. Palli, L. Moriello, C. Melchiorri, " Performance and Sealing Material Evaluation in 6-axis Force-Torque Sensors for Underwater Robotics " , IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles NGCUV'2015, Girona, Spain, 28-30 April 2015.
  • G. Palli, L. Moriello, C. Melchiorri, " The Effects of Sealing in 6-axis Force/Torque Sensors for Underwater Applications " , Fifteenth International Conference on Computer Aided Systems Theory, Workshop on Marine Sensors and Manipulators, La Palma de Gran Canaria, Spain, 11-13 February 2015.
  • G. Palli, F. Ficuciello, U. Scarcia, C. Melchiorri, B. Siciliano, " Experimental Evaluation of Synergy-Based In-Hand Manipulation " , IFAC World Congress, Cape Town, South Africa, 24-29 August 2014.
  • G. Palli, L. Moriello, U. Scarcia, C. Melchiorri, " An Intrinsic Tactile Sensor for Underwater Robotics " , IFAC World Congress, Cape Town, South Africa, 24-29 August 2014.
  • C. Melchiorri, L. Moriello, G. Palli, U. Scarcia, " A New Force/Torque Sensor for Robotic Applications Based on Optoelectronic Components " , IEEE International Conference on Robotics and Automation, Hong Kong, China, May 31 - June 7, 2014.
  • J.R. Bemfica, C. Melchiorri, L. Moriello, G. Palli, U. Scarcia, " A Three-Fingered Cable-Driven Gripper for Underwater Applications " , IEEE International Conference on Robotics and Automation, Hong Kong, China, May 31 - June 7, 2014.
  • G. Palli, G. Berselli " On the control of a Dielectric Elastomer artificial muscle with variable impedance " , ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Snowbird, Utah, September 16-18, 2013.
  • G. Palli, S. Pirozzi, C. Natale, G. De Maria, C. Melchiorri, " Mechatronic Design of Innovative Robot Hands: Integration and Control Issues " , IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, July 9-12, 2013.
  • F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, " A Model-based Strategy for Mapping Human Grasps to Robotic Hands Using Synergies " , IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, July 9-12, 2013.
  • G. Palli, C. Melchiorri, " Modelling and Control of Robotic Joints Based on Sliding Pairs " , IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, July 9-12, 2013.
  • J. Bemfica Rodrigues, C. Melchiorri, L. Moriello, G. Palli, U. Scarcia, G. Vassura , " Mechatronic Design of a Three-Fingered Gripper for Underwater Applications " , IFAC Symposium on Mechatronic Systems, Hangzhou, China, April 10-12, 2013.
  • G. Palli, S. Pirozzi, " An Optical Joint Position Sensor for Anthropomorphic Robot Hands " , IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013.
  • G. Palli, U. Scarcia, C. Melchiorri, G. Vassura, " Development of Robotic Hands: The UB Hand Evolution " , IEEE/RSJ International Conference on Intelligent Robots and Systems 2012, Algarve, Portugal, October 7-12, 2012.
  • G. Palli, C. Melchiorri, " On the Control of Redundant Robots with Variable Stiffness Actuation " , IEEE/RSJ International Conference on Intelligent Robots and Systems 2012, Algarve, Portugal, October 7-12, 2012.
  • F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, " Planning and Control During Reach to Grasp Using the Three Predominant UB Hand IV Postural Synergies " , IEEE International Conference on Robotics and Automation, Saint Paul, MN, May 15-17, 2012.
  • B. Peerdeman, U. Fabrizi, G. Palli, C. Melchiorri, S. Stramigioli, S. Misra, " Development of Prosthesis Grasp Control Systems on a Robotic Testbed " , IEEE International Conference on Biomedical Robotics and Biomechatronics, June 24-27, 2012 Roma, Italy.
  • F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, " Experimental evaluation of Postural Synergies during Reach to Grasp with the UB Hand IV " , IEEE/RSJ International Conference on Intelligent Robots and Systems 2011, San Francisco, CA, September 25-30, 2011.
  • G. Palli, C. Melchiorri, " Interaction Force Control of Robots with Variable Stiffness Actuation " , 18th IFAC World Congress 2011, Milan, Italy, August 28 - September 2, 2011.
  • F. Ficuciello, G. Palli, C. Melchiorri, B. Siciliano, " Experimental evaluation of the UB Hand IV Postural Synergies " , IEEE International Conference on Robotics and Automation, Workshop on Autonomous Grasping, Shanghai, China, May 9, 2011.
  • G. Borghesan, G. Palli, C. Melchiorri, " Friction Compensation and Virtual Force Sensing for Robotic Hands " , IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011.
  • G. Palli, S. Pirozzi, " Miniaturized Optical-based Force Sensors for Tendon-drivenRobots " , IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011.
  • I. Sardellitti, G. Palli, N. Tsagarakis, D. G. Caldwell, " Antagonistically Actuated Compliant Joint: Torque and Stiffness Control " , IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010.
  • G. Palli, C. Melchiorri, " Task Space Control of Robots with Variable Stiffness Actuation " , NOLCOS 2010, 8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, September 1-3, 2010.
  • G. Palli, G. Berselli, C. Melchiorri, G. Vassura, " Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures " , IDETC-CIE 2010, ASME 2010 International Design Engineering Technical Conferences, Montreal, Canada, August 15-18, 2010.
  • T. Wurtz, C. May, B. Holz, C. Natale, G. Palli, C. Melchiorri, " The Twisted String Actuation System: Modeling and Control " , AIM 2010, 2010 IEEE/ASME Conference on Advanced Intelligent Mechatronics, Montreal, Canada, July 6-9, 2010.
  • G. Palli, G. Borghesan, C.Melchiorri, " Friction and Visco-Elasticity Effects in Tendon-based Transmission Systems " , ICRA 2010, 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-7, 2010.
  • G. Borghesan, G. Palli, C.Melchiorri, " Design of Tendon-Driven Robotic Fingers: Modeling and Control Issues " , ICRA 2010, 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-7, 2010.
  • G. Berselli, G. Borghesan, M. Brandi, C. Melchiorri, C. Natale, G.Palli, S. Pirozzi, G. Vassura, " Integrated Mechatronic Design for a New Generation of Robotic Hands " , SYROCO2009, 9th International IFAC Symposium on Robot Control, Gifu, Japan, September 9-12, 2009.
  • G. Palli, C. Melchiorri, " Robust Control of Robots with Variable Joint Stiffness " , ICAR 2009, 14th International Conference on Advanced Robotics, Munich, Germany, June 22-23, 2009.
  • G.Palli, G. Borghesan, C.Melchiorri, " Tendon-based Transmission Systems for Robotic Devices: Models and Control Algorithms " , ICRA 2009, 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009.
  • G.Palli, R. Carloni, C.Melchiorri, " Innovative Tools for Real-Time Simulation of Dynamic Systems " , IFAC'08, 17th IFAC World Congress, Seoul, Korea, July 6-11, 2008.
  • G. Palli, C. Melchiorri, A. De Luca, " On the Feedback Linearization of Robots with Variable Joint Stiffness " , ICRA 2008, 2008 IEEE International Conference on Robotics and Automation, Pasadena, California, May 19-23, 2008.
  • G. Palli, C. Melchiorri, " Velocity and Disturbance Observer for Non-Model Based Load and Friction Compensation " , AMC 2008, 10th International Workshop on Advanced Motion Control, Trento, Italy, March 26-28, 2008.
  • G. Palli, L. Biagiotti, C. Melchiorri, " An Open Source Distributed Platform for the Control of the PUMA 560 Manipulator " , 9th Real Time Linux Workshop, Linz, Austria, November 2-4, 2007.
  • G.Palli, C.Melchiorri, " A Realtime Simulation environment for rapid prototyping of digital control systems and education " , Automazione e Strumentazione, ANIPLA official Journal, February 2007, N. 2, pag. 98-105.
  • G.Palli, C.Melchiorri, " Non-Model Based Friction and Load Compensation in Linear Electric Drives " , MOTION CONTROL 2007, 51th National congress on motion control, Milan, Italy, May 10-11, 2007.
  • G.Palli, C.Melchiorri, T. Wimboeck, M. Grebenstein, G. Hirzinger " Feedback linearization and simultaneous stiffness-position control of robots with antagonistic actuated joints " , ICRA2007, 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, April 10-14, 2007.
  • G.Palli, C.Melchiorri, " A Realtime Simulation environment for rapid prototyping of digital control systems and education " , ANIPLA 2006, International congress on methodologies for emerging technologies in automation, Rome, Italy, November 13-15, 2006.
  • G.Palli, C.Melchiorri, " Realtime hardware emulation for rapid prototyping and testing of control systems " , MECHATRONICS 2006, 4th IFAC Symposium on Mechatronic Systems, Heidelberg, Germany, September 12-14, 2006.
  • G.Palli, C.Melchiorri, " Optimal control of tendon-sheath transmission systems " , SYROCO2006, 8th International IFAC Symposium on Robot Control, Bologna, Italy, September 6-8, 2006.
  • G.Palli, C.Melchiorri, " Model and control of tendon-sheath transmission systems " , ICRA2006, 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006.
  • L.Biagiotti, F.Lotti, C.Melchiorri, G.Palli, P.Tiezzi, G.Vassura, " Development of UB Hand 3: Early Results " , ICRA2005, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005.
  • L.Biagiotti, F.Lotti, C.Melchiorri, G.Palli, P.Tiezzi, G.Vassura, " Innovative Design of Robot Hands for Space Activities " , 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation, 'ASTRA 2004' ESTEC - Noordwijk, The Netherlands, 2-4 November 2004.
  • L.Biagiotti, F.Lotti, C.Melchiorri, G.Palli, P.Tiezzi, G.Vassura, " UBH 3: A Biologically Inspired Robotic Hand " , IMG04, July 1-2, 2004, Genova (Italy)

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School and Courses

  • GEOPLEX Euron Summer School about Port Hamiltonian System " From Ports to Robotics ", Bertinoro (Italy), July 18-22, 2005.
  • CIRA National School for PhD students " Antonio Ruberti " on " Adaptive control " , Bertinoro (Italy), July 11-16, 2005.
  • Doctoral School of CASY - University of Bologna about " Hybrid Control Systems ", Prof. A. R. Teel (University of California) , Bologna (Italy), March 29-30, 2005.
  • Doctoral School of CASY - University of Bologna about " An Introduction to some Lyapunov Designs of Global Asymptotic Stabilizers ", Prof. L. Praly (Ecole des mines de Paris) , Bologna (Italy), March 14-17, 2005.
  • CIRA National School for PhD students " Antonio Ruberti " on " Modelling and Control of Transport and Communication Networks " and " Fault Diagnosis and Fault Tolerant Control of Dynamic Systems ", Bertinoro (Italy), July 12-17, 2004.
  • Doctoral School of CASY - University of Bologna about " Port Hamiltonian Systems. Modelling and Control of Non Linear Systems;", Prof. C. Melchiorri and Dr. A. Macchelli (University of Bologna) , Bologna (Italy), May 25-26, 2004.
  • Doctoral School of CASY - University of Bologna about "Discrete Event System", Prof. S. Lafortune (University of Michigan) and Dr. A. Paoli (University of Bologna), Bologna (Italy), May 4-6 / June 28-30, 2004.
  • Doctoral School of CASY - University of Bologna about "Nonlinear Control", Prof. A. Isidori (University La Sapienza of Roma) and Prof. L. Marconi (University of Bologna), Bologna (Italy), March 9-12 / April 20-22, 2004.

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Conferences and Symposia

  • " Antagonistic variable stiffness actuation: modeling and control ", Presented at DLR - German Aerospace Center, Oberpfaffenhofen, Germany, July 27, 2006.
  • " Realtime operating systems: RTAI-Linux and applications ", Presented at Linux Speaking 2005, Rimini, Italy, November 27, 2005.
  • " A real-time Linux based architecture for a complex mechatronic system ", Presented at Annual Meeting CIRA 2005, Tropea, Italy, September 8-10, 2005.
  • " The UBHand III Project: tendon transmission model and control architecture ", CASY Research Survey, April 4, 2005.

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Teaching Activities

  • 2017: Course of "Automation Software and Design Patterns M" at the First Faculty of Engineering of the University of Bologna (Link to course page)
  • 2016: Course of "Ingegneria e Tecnologie dei Sistemi di Controllo LM" at the Second Faculty of Engineering of the University of Bologna, (Link to course page)
  • 2015: Course of "Sistemi e Tecnologie per l'Automazione LM" at the Second Faculty of Engineering of the University of Bologna, (Link to course page)
  • 2014 - 2016: Course of "Teoria dei Sistemi e dei Controlli per L'Automazione LM" at the Second Faculty of Engineering of the University of Bologna, (Link to course page)
  • 2012 - 2013: Course of "Automatic Control and System Theory M" at the First Faculty of Engineering of the University of Bologna (Link to course page)
  • 2011 - 2012: Course of "Sistemi di Elaborazione e Controllo M" at the First Faculty of Engineering of the University of Bologna (Link to course page)
  • 2007 - 2011: Course of "Fondamenti di Controlli Automatici" at the Faculty of Engineering of the University of Modena (Link to course page)
  • 2004 - 2008: Tutor of the course of "Controlli Automatici LS" held by prof. Claudio Melchiorri at the First Faculty of Engineering of the University of Bologna (Link to course page)
  • November 2008 - January 2009: Laboratory of "Realtime Software Technologies" for the course on Hybrid Vehicle Design organized by Magneti-Marelli Powertrain (Link to course page)

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Software Projects

  • xrtailib - C++ xrtailab interface library for RTAI applications

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Personal Interests

  • Sports (Mountain Bike, Mountain Running, Alpine Skiing, Triathlon, Swimming, Tennis, Mountaineering, Horse Riding)
  • Linux
  • Music (Play Guitar)
  • Trekking

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