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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 hands. I'm member of the UBHand III project team. My research interests are force control in presence of static and dynamic friction and control of kinematic chains with flexible links and elastic joints.

As for force control, i am studying control strategies for static and dynamic friction compensation. The main target of this control problem is to improve the performance of tendon driving system used in UBHand III. The problem is strongly nonlinear and is very hard to obtain a reliable model of static friction. Due to the particular structure of the UBHand III, another important research interest is the modeling and control of robots with flexible links and elastic joints.

In general, modelling and nonlinear control techniques are the theoretic subjects of my research.

My research activity include also real-time operating systems, in particular RTLinux and RTAI.

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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, 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, ISBN 978-3-642-29040-4, 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, ISBN 978-3-642-29040-4 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, ISBN 978-953-307-073-5, Marzo 2010.

Journals:

• G. Palli, C. Natale, C. May, C. Melchiorri, T. Wurtz " Modelling and Control of the Twisted String Actuation System " , IEEE/ASME Transaction on Mechatronics, in press, 2011.

• G. Palli, G. Borghesan, C. Melchiorri, " Modeling, Identification and Control of Tendon-based Actuation Systems " , IEEE Transaction on Robotics, Volume: PP , Issue: 99, DOI: 10.1109/TRO.2011.2171610, Page(s): 1 - 14, 2011.

• 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, 2011.

• G. Palli, C. Melchiorri, " Output-Based Control of Robots with Variable Stiffness Actuation " , Journal of Robotics, ISSN: 1687-9619, 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, ISSN 0924-4247, DOI:10.1016/j.sna.2010.11.007, 2010.

• 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:

• 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

• " Safety-Oriented Control of Variable Stiffness Devices ", Presented at IIT, Italian Institute of Technology, Genova, Italy, January 29, 2009.

• " Variable Stiffness Actuation: Modeling and Control ", Presented at First workshop for young researchers on Human-friendly robotics, Napoli, Italy, October 24, 2008.

• " Antagonistic variable stiffness actuation: modeling and control ", Presented at DLR - German Aerospace Center, Oberpfaffenhofen, Germany, July 27, 2006.

• " Modeling and control of compliant robotic systems ", Presented at CASY Workshop " Advances in Control Theory and Applications ", Bertinoro, Italy, May 22-26, 2006.

• " The UBHand III project: design and control aspects ", Presented at DLR - German Aerospace Center, Oberpfaffenhofen, Germany, February 13, 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

• 2011-2012: Course of "Sistemi di Elaborazione e Controllo M" at the First Faculty of Engineering of University of Bologna (Link to course page)

• 2007 - 2011: Course of "Fondamenti di Controlli Automatici" at the Faculty of Engineering of 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 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

• Sensoray 626 comedi driver - The comedi driver for the Sensoray 626 DAQ board

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

• RTAI-Knoppix (md5sum) - Knoppix based RTAI LiveCD with:

  • Linux kernel version 2.6.17 (SMP enabled kernel is available)

  • RTAI version 3.4

  • Scilab-4.0/Scicos CACSD platform (from Roberto Bucher)

  • comedi support

  • complete realtime applications development environment

  • xrtailab graphic interface

  • realtime application examples

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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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