Daniele Pucci

Researcher
Head of the Dynamic Interaction Control research Line

Contacts

Daniele.Pucci@iit.it
+39 010 2898 237

Social profiles

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About

Education 

Daniele Pucci received the bachelor and master degrees in Control Engineering with highest honors from ”Sapienza”, University of Rome, in 2007 and 2009, respectively. In 2009, he also received the ”Academic Excellence Award” from Sapienza. In 2013, he earned the PhD title with a thesis prepared at INRIA Sophia Antipolis, France, under the supervision of Tarek Hamel and Claude Samson. From 2013 to 2017, he has been a postdoc at the Istituto Italiano di Tecnologia (IIT) working within the EU project CoDyCo. Since August 2017, he is the head of the Dynamic Interaction Control lab and the PI of the H2020 European Project AnDy. The main lab research focus is on the humanoid robot locomotion problem, with specific attention on the control and planning of the associated nonlinear systems. Also, the lab is pioneering Aerial Humanoid Robotics, whose main aim is to give humanoid robots the ability to fly.

Current position

Since August 2017, I am a research scientist leading the Dynamic Interaction Control lab at IIT.

 Our research can be decomposed into three research axes:

The young, dynamic, and highly motivated team is composed of 25 persons.

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2015-2017, Senior postdoc, team leader of four PhD students  

From 2015 to August 2017 I have been a senior postdoc within the Dynamic Interaction Control Lab. I have beed coordinating four PhD students. 

Their domain of expertise is on planning, estimation, and control of floating base systems. Francesco Romano graduated in 2016, and is now a research engineer at Google DeepMind

          Francesco Romano             Yeshasvi Tirupachuri            Marie Charbonneau                  Gabriele Nava

         

 

 

2013-2015,  postdoc, in the coordination PI team of the CoDyCo project

From 2013 to 2015, I have been a  postdoc responsible for the experimental activities associated with the deliverables of CoDyCo, project number: 600716 FP7-ICT-2011.2.1 Cognitive Systems and Robotics. The project has been graded as excellent for four years. Given the success of the experimental activities obtained as an outocme of the project, I have been included in the coordination PI team of the project - see video below, minute 1:55 - coordinating a team of three PhD students.

 

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Interests

Control Robotics Mechanics

Projects

Visit the website of the Dynamic Interaction Control lab to know more about projects and research directions.

 

Selected Publications

 

  1. L. Natale, C. Bartolozzi, D. Pucci, A. Wykowska, G. Metta "iCub: the not yet finished story of building a robot child", in press, Science Robotics
  2. D. Pucci, T. Hamel, P. Morin, and C. Samson. “Nonlinear Feedback Control of Axisymmetric Aerial Vehicles”. In: Automatica 53 (2015), pp. 72–78.
  3. D. Pucci, F. Romano, and F. Nori. “Collocated Adaptive Control of Underactuated Mechanical Systems”. In: IEEE Transactions on Robotics 31 (6 2015), pp. 1–10.
  4. D. Pucci, S. Traversaro, and F. Nori. “Momentum Control of an Underactuated Flying Humanoid Robot”. In: IEEE Robotics and Automation Letters 3.1 (2018), pp. 195–202. 
  5. F. Nori, S. Traversaro, J. Eljaik, F. Romano, A. Del Prete, and D. Pucci. “iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts”. In: Frontiers in Robotics and AI (2015).

IIT Publications

  • 2019
  • Latella C.iit, Tagliapietra L.iit, Ferigo D.iit, Tirupachuri Y.iit, Nori F.iit, Pucci D.iit
    DOI

    Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation

    Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2018-September, pp. 21-22
  • Acemoglu A., Pucci D.iit, Mattos L.iit

    Design and Control of a Magnetic Laser Scanner for Endoscopic Microsurgeries

    IEEE/ASME Transactions on Mechatronics
  • Tirupachuri Y.iit, Traversaro S., Nori F., Pucci D.iit

    Momentum-Based Topology Estimation of Articulated Objects

    Intelligent Systems Conference, pp. 13
  • Peneo L., Clement B., Moduano V., Mingo Hoffman E.iit, Nava G.iit, Pucci D.iit, Tsagarakis N.G.iit, Mourert J.-B., Ivaldi S.
    DOI

    Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid

    IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, pp. 425-432
  • Elobaid M., Hu Y., Romualdi G.iit, Dafarra S., Babic j., Pucci D.iit

    Telexistence and Teleoperation for Walking Humanoid Robots

    IntelliSys 2019
  • Bergonti F.iit, Fiorio L., Pucci D.iit

    Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot

    IEEE International Conference on Robotics and Automation (ICRA)
  • Tirupachuri Y.iit, Nava G.iit, Latella C.iit, Ferigo D.iit, Rapetti L.iit, Tagliapietra L., Nori F., Pucci D.iit

    Towards Partner-Aware Humanoid Robot Control under Physical Interactions

    IEEE Technically Sponsored Intelligent Systems Conference
  • Latella C.iit, Lorenzini M.iit, Lazzaroni M.iit, Romano F.iit, Traversaro S.iit, Akhras M.A.iit, Pucci D.iit, Nori F.iit
    DOI

    Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms: A physical human–robot interaction case study

    Autonomous Robots, vol. 43, (no. 6), pp. 1591-1603
  • 2018
  • Romualdi G.iit, Dafarra S.iit, Hu Y.iit, Pucci D.iit

    A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots

    Humanoid Robots (Humanoids), 2018 IEEE-RAS 17th International Conference on
  • Dafarra S.iit, Nava G.iit, Charbonneau M.iit, Guedelha N.iit, Andrade Chavez F. J., Traversaro S.iit, Fiorio L.iit, Romano F., Nori F., Metta G.iit, Pucci D.iit

    A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

    IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Kangro J.iit, Vazhapilli Sureshbabu A.iit, Traversaro S.iit, Pucci D.iit, Nori F.iit
    DOI

    A Plenum Based Calibration Device for Tactile Sensor Arrays

    IEEE Robotics and Automation Letters
  • Duan A.iit, Camoriano R.iit, Ferigo D.iit, Calandriello D., Rosasco L.iit, Pucci D.iit

    Constrained DMPs for Feasible Skill Learning on Humanoid Robots

    Humanoid Robots (Humanoids), 2018 IEEE-RAS 17th International Conference on
  • Andrade F.iit, Kangro J.iit, Traversaro S.iit, Nori F.iit, Pucci D.iit
    DOI

    Contact Force and Joint Torque Estimation Using Skin

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 3900 - 3907
  • Nava G.iit, Ferigo D.iit, Pucci D.iit

    Exploiting Friction in Torque Controlled Humanoid Robots

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Charbonneau M.iit, Modugno V., Nori F., Oriolo G., Pucci D.iit, Ivaldi S.

    Learning robust task priorities of QP-based whole-body torque-controllers

    Humanoid Robots (Humanoids), 2018 IEEE-RAS 18th International Conference on
  • Pucci D.iit, Traversaro S.iit, Nori F.iit
    DOI

    Momentum Control of an Underactuated Flying Humanoid Robot

    IEEE Robotics and Automation Letters, vol. 3, (no. 1), pp. 195-202
  • Nava G.iit, Fiorio L.iit, Traversaro S., Pucci D.iit

    Position and Attitude Control of an Underactuated Flying Humanoid Robot

    Humanoid Robots (Humanoids), 2018 IEEE-RAS 18th International Conference on, pp. 8
  • Penco L., Clément B., Modugno V., Hoffman M., Nava G.iit, Pucci D.iit, Tsagarakis N.iit, Mouret J. B., Ivaldi S.

    Robust Real-time Whole-Body Motion Retargeting from Human to Humanoid

    Humanoid Robots (Humanoids), 2018 IEEE-RAS 18th International Conference on
  • Romano F.iit, Nava G.iit, Azad M., Camernik J., Dafarra S.iit, Dermi O., Latella C.iit, Lazzaroni M.iit, Lober R., Lorenzini M.iit, Pucci D.iit, Sigaud O., Traversaro S.iit, Babic J., Ivaldi S., Mistry M., Padois V., Nori F.iit
    DOI

    The CoDyCo Project achievements and beyond: Towards Human Aware Whole-body Controllers for Physical Human Robot Interaction

    IEEE Robotics and Automation Letters
  • 2017
  • Romano F.iit, Traversaro S.iit, Pucci D.iit, Eljaik J., Prete A.D., Nori F.iit
    DOI

    A whole-body software abstraction layer for control design of free-floating mechanical systems

    Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017, pp. 148-155
  • Romano F.iit, Traversaro S.iit, Pucci D.iit, Eljaik J., Del Prete A., Nori F.iit

    A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems

    IEEE Robotics Computing
  • Natale L.iit, Bartolozzi C.iit, Pucci D.iit, Wykowska A.iit, Metta G.iit
    DOI

    iCub: The not-yet-finished story of building a robot child

    Science Robotics, vol. 2, (no. 13)
  • Nava G.iit, Pucci D.iit, Guedelha N.iit, Traversaro S.iit, Romano F.iit, Dafarra S.iit, Nori F.iit
    DOI

    Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw

    IEEE-RAS International Conference on Humanoid Robots, pp. 263-270
  • Nava G.iit, Pucci D.iit, Nori F.iit
    DOI

    Momentum control of humanoid robots with series elastic actuators

    IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 2185-2191
  • Modugno V.iit, Nava G.iit, Pucci D., Nori F., Oriolo G., Ivaldi S.iit
    DOI

    Safe trajectory optimization for whole-body motion of humanoids

    IEEE-RAS International Conference on Humanoid Robots, pp. 763-770
  • Kangro J.iit, Traversaro S.iit, Pucci D.iit, Nori F.iit
    DOI

    Skin normal force calibration using vacuum bags

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 401-406
  • 2016
  • Pucci D.iit, Nava G.iit, Nori F.iit
    DOI

    Automatic gain tuning of a momentum based balancing controller for humanoid robots

    IEEE-RAS International Conference on Humanoid Robots, pp. 158-164
  • Tisi S.iit, Saliceti S.iit, Pucci D.iit, Silvestri P., Nori F.iit, Metta G.iit

    Design and validation of a series rotary elastic actuator for humanoid robots

    Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016, pp. 783-790
  • Pucci D.iit, Romano F.iit, Traversaro S.iit, Nori F.iit
    DOI

    Highly Dynamic Balancing via Force Control

    IEEE-RAS International Conference on Humanoid Robots, pp. 141
  • Chavez F.J.A.iit, Traversaro S.iit, Pucci D.iit, Nori F.iit
    DOI

    Model based in situ calibration of six axis force torque sensors

    IEEE-RAS International Conference on Humanoid Robots, pp. 422-427
  • Charbonneau M.iit, Nori F.iit, Pucci D.iit
    DOI

    On-line joint limit avoidance for torque controlled robots by joint space parametrization

    IEEE-RAS International Conference on Humanoid Robots, pp. 899-904
  • Nava G.iit, Pucci D.iit, Traversaro S.iit, Romano F.iit, Muratore L.iit, Natale L.iit, Tsagarakis N. G.iit, Nori F.iit

    Porting Highly Dynamic Balancing from iCub to Walkman

    IEEE/RAS International Conference of Humanoid Robotics
  • Nava G.iit, Romano F.iit, Nori F.iit, Pucci D.iit
    DOI

    Stability analysis and design of momentum-based controllers for humanoid robots

    IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, pp. 680-687
  • 2015
  • Pucci D.iit, Romano F.iit, Nori F.iit
    DOI

    Collocated Adaptive Control of Underactuated Mechanical Systems

    IEEE Transactions on Robotics, vol. 31, (no. 6), pp. 1527-1536
  • Nori F.iit, Traversaro S.iit, Eljaik J.iit, Romano F.iit, Del Prete A., Pucci D.iit
    DOI

    iCub whole-body control through force regulation on rigid non-coplanar contacts

    Frontiers in Robotics and AI, vol. 2, pp. 6
  • Traversaro S.iit, Pucci D.iit, Nori F.iit
    DOI

    In situ calibration of six-axis force-torque sensors using accelerometer measurements

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, (no. June), pp. 2111-2116
  • Pucci D.iit, Hamel T., Morin P., Samson C.
    DOI

    Nonlinear feedback control of axisymmetric aerial vehicles

    Automatica, vol. 53, pp. 72-78
  • 2014
  • Hua M.-D., Pucci D., Hamel T., Morin P.iit, Samson C.
    DOI

    A novel approach to the automatic control of scale model airplanes

    Proceedings of the IEEE Conference on Decision and Control, vol. 2015-February, (no. February), pp. 805-812
  • Boncagni L., Vitelli R., Carnevale D., Galperti C., Artaserse G., Pucci D.iit
    DOI

    An overview of the software architecture of the plasma position, current and density realtime controller of the FTU

    Fusion Engineering and Design, vol. 89, (no. 3), pp. 204-213
  • 2013
  • Boncagni L., Pucci D., Piesco F., Zarfati E., Mazzitelli G., Monaco S.
    DOI

    A control approach for plasma density in tokamak machines

    Fusion Engineering and Design, vol. 88, (no. 6-8), pp. 1097-1100
  • Pucci D., Hamel T., Morin P., Samson C.
    DOI

    Nonlinear control of aerial vehicles subjected to aerodynamic forces

    Proceedings of the IEEE Conference on Decision and Control, pp. 4839-4846
  • Pucci D.iit, Marchetti L., Morin P.
    DOI

    Nonlinear control of unicycle-like robots for person following

    IEEE International Conference on Intelligent Robots and Systems, pp. 3406-3411
  • 2012
  • Pucci D.

    Flight dynamics and control in relation to stall

    Proceedings of the American Control Conference, pp. 118-124
  • Boncagni L., Sadeghi Y., Carnevale D., Geronimo A.D., Varano G., Vitelli R., Galperti C., Zarfati E., Pucci D.
    DOI

    MARTe at FTU: The new feedback control

    Fusion Engineering and Design, vol. 87, (no. 12), pp. 1917-1920
  • 2011
  • Boncagni L., Sadeghi Y., Carnevale D., Mazzitelli G., Neto A., Pucci D., Sartori F., Piesco F., Sinibaldi S., Vitale V., Vitelli R., Zaccarian L., Monaco S., Zamborlini G.
    DOI

    First steps in the FTU migration towards a modular and distributed real-time control architecture based on MARTe

    IEEE Transactions on Nuclear Science, vol. 58, (no. 4), pp. 1778-1783
  • Pucci D., Hamel T., Morin P., Samson C.
    DOI

    Nonlinear control of PVTOL vehicles subjected to drag and lift

    Proceedings of the IEEE Conference on Decision and Control, pp. 6177-6183

Awards

 

2017 Finalist, Kuka innovation award, Co-aware team.

2015 Most interesting research topics, Premio Sapio per la ricerca e l’innovazine, Total submissions: 141, selected for publication on "DA, per la ricerca e l’innovazione". Title: "Tu, robot.". Online at http://www.daonline.info/pagine/45.pdf, p. 38.

2010 Vinci Program Grant, travel support grant, from “Université Franco Italienne”.

2009 Academic Excellence, from “Sapienza” University of Rome.

2004 Research project award, at the Triennial Electronics Exhibit, Technical Industrial State Institute “G. Vallauri”, Velletri (Italy).

1998 Tullio Fazi Prize, distinguished student award, from Rotary International 2080.