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People ■ Federico Moro
Federico Moro's foto

Federico Moro

ADVR / Humanoids & Human Centred Mechatronics

Post Doc
Phone +39 010 71781 846
Fax +39 010 71781 232
Web Site http://www.iit.it/en/people/federico-moro
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Bio


Federico Lorenzo Moro
was born in Milano, Italy in 1985.

 

In September 2007 he received his Bachelor's degree in Computer Engineering from Politecnico di Milano (PoliMi), Italy.
Thesis Title: "Analisi e Sviluppo di un Modello per la Camminata Dinamica di un Robot Bipede" (Analysis and Development of a Model for the Dynamic Walking of a Biped Robot)
Advisor: Dr. Ing. Michele Folgheraiter

In July 2009 he was hosted for a period of joint research and collaboration at Institute Mihailo Pupin (IMP) - Robotics Laboratory, Belgrade, Serbia, by invitation from Prof. Aleksandar Rodić and Prof. Duško Katic.

In August 2010 he received his Master's degree in Computer Science from University of Illinois at Chicago (UIC), USA.
Thesis Title: "A Systematic Analysis of Energy Consumption of Bipedal Walking with the Aim of Designing a Humanoid Robot"
Advisors: Prof. Miloš Žefran and Prof. Giuseppina Gini

In August 2010 he was selected to participate to the JAIST International Summer School "Locomotive and Cooperative Robotic Systems", in Kanazawa, Japan.

In December 2010 he received his Master's degree in Computer Engineering from Politecnico di Milano (PoliMi), Italy.
Thesis Title: "Design and Intelligent Control of an Energy-Efficient Humanoid Robot"
Advisors: Prof. Giuseppina Gini and Prof. Miloš Žefran

 

In January 2011 Federico Moro joined the Istituto Italiano di Tecnologia (IIT) - Department of Advanced Robotics, Genova, Italy as a PhD Fellow (Advisior: Dr. Nikos Tsagarakis), where he works on the motion control of the COMAN robot.

In July 2011 he was selected to participate to the ETHZ International Summer School "Dynamic Walking and Running with Robots", in Zurich, Switzerland.

In July 2011 he was selected to participate to the DLR International Summer School "On Impedance", jointly organized by the EU FP7 research projects STIFF and VIACTORS, in Frauenchiemsee, Bavaria, Germany.

In 2011 and 2012 he was visitor at Honda Research Institute Europe (HRI-EU), and at Honda Research Institute USA (HRI-US) for short periods, by invitation from Dr. Michael Gienger and Dr. Ambarish Goswami, respectively.

In 2012 he was visitor at the Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne (EPFL) for a short period, by invitation from Dr. Alexander Spröwitz and Prof. Auke Ijspeert.

In October 2012 he was selected to participate to the 3rd PAVIS School on Computer Vision, Pattern Recognition, and Image Processing "Component Analysis Methods for Human Sensing", in Sestri Levante, Genova, Italy.

In October 2013 he was selected to participate to the Xperience Summer School, organized by the EU FP7 research project Xperience, in Cala Millor, Mallorca, Spain.

 

Starting from May 2014 Federico Moro is a Post Doc Researcher in the Humanoids & Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia (IIT), in Genova, Italy.

Since September 2014 he is Corresponding Co-Chair of the IEEE-RAS Technical Committee on Whole-Body Control (http://www.ieee-ras.org/whole-body-control - http://wholebodycontrol.eu/).

 

Additional Information:

 

Guest Editor:

2015

Special Issue on "Whole-body Control for Robots in the Real World"
International Journal of Humanoid Robotics (IJHR) - September 2015 Issue
Editors: F.L. Moro, M. Gienger, A. Goswami, O. Khatib, E. Yoshida
http://walk-man.eu/news/events/item/iros14-ws-ijhr-si-on-whole-body-control-for-robots-in-the-real-world.html

 

Organizer:

2014

Full-day Workshop on "Whole-body Control for Robots in the Real World"
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Organizers: F.L. Moro, M. Gienger, O. Khatib, E. Yoshida
http://walk-man.eu/news/events/item/iros14-ws-ijhr-si-on-whole-body-control-for-robots-in-the-real-world.html

 

Invited/Seminar Talks:

o "Whole-Body Control for Robots in the Real World" Workshop at IEEE/RSJ IROS (Sept 2014)
"An Attractor-based Whole-Body Motion Control (WBMC) System - Tests with the COMAN Robot"

o "Torque-Controlled Humanoids" Workshop at IEEE-RAS Humanoids (Oct 2013)
"An Attractor-based Whole-Body Motion Control (WBMC) System for Humanoid Robots"

o AMARSI meeting (Nov 2012)
"The Horse kMPs and their Application to Quadrupedal Locomotion"

o AMARSI meeting (Nov 2012)
"On the kinematic Motion Primitives (kMPs) - Theory and Application"

o Honda Research Institute USA (May 2012)
"The Kinematic Motion Primitives (kMPs) and their application to the COMAN robot"

o IIT-EPFL COMAN meeting (Jan 2012)
"Kinematic Motion Primitives (kMPs) Based Walking"

 

Served as reviewer for:

o International Journal of Robotics Research (IJRR)

o IEEE Transactions on Robotics (T-RO)

o Autonomous Robots (AURO)

o International Journal of Humanoid Robotics (IJHR)

o Applied Bionics and Biomechanics (ABB)

o International Journal of Advanced Robotic Systems (IJARS)

o IEEE International Conference on Robotics and Automation (ICRA)

o IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

o IEEE-RAS International Conference on Humanoid Robots (Humanoids)

o IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

o Joint IEEE International Conference of Development and Learning and on Epigenetic Robotics (ICDL-EPIROB)

 

Contributed to the following EU projects:

WALK-MAN (Whole-body Adaptive Locomotion and Manipulation)
Role: Communication and Divulgation Coordinator
http://www.walk-man.eu/

AMARSI (Adaptive Modular Architectures for Rich Motor Skills)
http://www.amarsi-project.eu/

Projects


The kinematic Motion Primitives (kMPs):


The human kinematic Motion Primitives (kMPs) are sets of invariant waveforms underlying human motion, derived applying Principal Component Analysis (PCA) on the whole-body joint trajectories of human subjects, previously recorded with a motion capture system. A set of five kMPs was identified for periodic motions (walking/running at different velocities with or without constraints on the motion of the arms), explaining more than 99% of cumulative variance. Two kMPs, instead, are at the basis of discrete motions (reaching for a target with either hand), for a cumulative variance explaination of more than 95%. It was shown that these two sets of kMPs can combine to produce more complex motions that are a combination of discrete and periodic movements (reaching for a target with either hand while walking).

The kMPs of periodic motions were used to generate a human-like gait that was tested on the COMAN robot. COMAN could perform a valid, stable, dynamic walk, with knees straightening up to less than 5°. [YouTube]

This work was further extended to quadrupeds, with the identification of four horse kMPs (for a cumulative variance explained of about 97%), describing the walk, trot, and gallop gaits. Horse-like trajectories for each of the three gaits were generated and applied on a small-size quadruped robot. The work on the kMPs extracted from quadrupedal locomotion was done in collaboration with Dr. Alexander Spröwitz and Prof. Auke Ijspeert (Biorobotics Laboratory, EPFL). A gait transition strategy was also proposed and successfully tested on the robot. [YouTube]
This research was described by some articles that can be found online: [IEEE Spectrum] [cnet.com] [phys.org] [newspoint.co.za] [topnews.net.nz] [organicmotion.com] [chw.net] [rtkorr.com] [computerra.ru] [lanacion.com.ar] [horsetalk.co.nz]

More information on the kMPs and their application to generate walking trajectories for the COMAN robot is available on the IIT-Website page on the kinematic Motion Primitives (kMPs). Published references to this research are:

o F.L. Moro et al., 2011 - Humanoids11

o F.L. Moro et al., 2012 - ICRA12

o F.L. Moro et al., 2012 - Front Neurorobot

o F.L. Moro et al., 2012 - CNR@IROS12

o F.L. Moro et al., 2013 - Biol Cybern

o F.L. Moro et al., 2013 - Auton Robot

 

This work was supported by the European Commission FP7, AMARSI Project ICT-2009-4.

 

Resonance Exploitation for Energy Efficiency:

This work aimed to demonstrate that compliance can improve the performance of a robot in terms of energy efficiency.

The kMPs-based walking gait was used for these experiments because of its characteristics: it was noticed in fact that the springs of the actuators of COMAN were more excited when it was walking with trajectories generated by reconstruction from human kMPs than they were with engineered trajectories.

The kMPs-based trajectories were scaled in frequency to vary in a range from 0.5Hz to 1.25Hz. The overall energy consumption was measured for each of the frequencies tested, as well as the work done by the single springs.

It was shown that when the robot “walks in the resonance frequency” (i.e., the gait frequency is close to one of the main resonance frequencies of the mechanism) the springs contribute with about 15% of the work required to track the reference trajectories, by storing and releasing elastic energy.

More information on the work on resonance exploitation for energy efficiency is available on the IIT-Website page on compliance exploitation for energy efficiency. Published references to this research are:

o F.L. Moro et al., 2012 - ICRA12

o F.L. Moro et al., 2013 - Auton Robot

 

An attractor-based Whole-Body Motion Control (WBMC) System:

A novel Whole-Body Motion Control (WBMC) System was developed in collaborative research with Dr. Michael Gienger (Honda Research Institute Europe), and Dr. Ambarish Goswami (Honda Research Institute USA), to allow i) the full exploitation of the entire capabilities of a complex multi-limbed robot in the execution of any task, and ii) the simultaneous execution of several tasks.

The system proposed is a model-based, torque-control concept, and is based on the so-called attractors.  Each attractor is an atomic control module that is associated with a certain physical or derived measure, and works in parallel with other attractors generating joint torques that aim to modify the state of the robot so that the error in a target condition is minimized. The WBMC system results in a compliant behavior as opposed to other whole-body control methods in the literature that propose a rigid task prioritization based on the null-space formulation.

Balance plays a fundamental role in whole-body control, particularly in the case of humanoid robots. The system proposed aims to be as general as possible, and to not be constrained by any assumption, such as the number of contacts or the conditions of the terrain. For this reason a very basic definition of equilibrium coming from classical mechanics was considered. A set of attractors on the effort of the robot and its momenta was designed: these are responsible of maintaining the robot in the neighborhood of the equilibrium as defined.

A computationally efficient gravity compensation for floating-base robots was also proposed.

The attractor-based WBMC System was first tested in simulation, and then with the torque-controlled COMAN, a COmpliant huMANoid robot [YouTube]. The preliminary results obtained are promising, and justify the effort to further improve the system and validate it in more challanging scenarios.

A published reference to this research is:

o F.L. Moro et al., 2013 - Humanoids13

 

This work is supported by the FP7-ICT-2013-10 WALKMAN European Commission project.

Selected Publications


Book Chapters:

2009

G. Gini, M. Folgheraiter, U. Scarfogliero, F. Moro, "A Biologically Founded Design and Control of a Humanoid Biped", in Humanoid Robots, Ben Choi Ed., ISBN: 978-953-7619-44-2, InTech Education and Publishing, Vienna, Austria (2009) - [PDF]


Journal Papers:

2014

F.L. Moro, N.G. Tsagarakis, D.G. Caldwell, "Walking in the Resonance with the COMAN Robot with Trajectories based on Human Kinematic Motion Primitives (kMPs)", Autonomous Robots, 36(4), pp. 331-347 (2014) - [PDF]

2013

F.L. Moro, A. Spröwitz, A. Tuleu, M. Vespignani, N.G. Tsagarakis, A.J. Ijspeert, D.G. Caldwell, "Horse-Like Walking, Trotting and Galloping derived from Kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot" , Biological Cybernetics, 107(3), pp. 309-320 (2013) - [PDF][YouTube]

2012

F.L. Moro, N.G. Tsagarakis, D.G. Caldwell, "On the kinematic Motion Primitives (kMPs) - theory and application", Frontiers in Neurorobotics, 6(10), pp. 1-18 (2012) - [PDF]


Conference Papers:

2013

F.L. Moro, M. Gienger, A. Goswami, N.G. Tsagarakis, D.G. Caldwell, "An Attractor-based Whole-Body Motion Control (WBMC) System for Humanoid Robots”, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, Georgia, USA (2013) - [PDF] [YouTube]

2012

F.L. Moro, N.G. Tsagarakis, D.G. Caldwell, "The kinematic Motion Primitives (kMPs) of periodic motions, discrete motions, and motions that are a combination of discrete and periodic movements", Cognitive Neuroscience Robotics (CNR) Workshop at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal (2012) - [PDF]

F.L. Moro, N.G. Tsagarakis, D.G. Caldwell, "Efficient Human-Like Walking for the COmpliant huMANoid COMAN based on Kinematic Motion Primitives (kMPs)", IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, USA (2012) - [PDF][Video Presentation]

2011

F.L. Moro, N.G. Tsagarakis, D.G. Caldwell, "A Human-like Walking for the Compliant Humanoid COMAN based on CoM Trajectory Reconstruction from Kinematic Motion Primitives", IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia (2011) - [PDF][YouTube]

2010

F. Moro, G. Gini, M. Žefran, A. Rodić, "Simulation for the Optimal Design of a Biped Robot: Analysis of Energy Consumption", International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Darmstadt, Germany (2010) - [PDF]


Other Publications:

2014

F.L. Moro, "A Biologically-Inspired Whole-Body Motion Control (WBMC) System for Humanoid Robots", PhD Thesis, Istituto Italiano di Tecnologia, Italy (2014) - [PDF]

2010

F.L. Moro, "Design and Intelligent Control of an Energy-Efficient Humanoid Robot", Master's Thesis, Politecnico di Milano, Italy (2010) - [PDF]

F.L. Moro, "A Systematic Analysis of Energy Consumption of Bipedal Walking with the Aim of Designing a Humanoid Robot", Master's Thesis, University of Illinois at Chicago, USA (2010)

2007

F.L. Moro, A. Giovanazzi, "Analisi e Sviluppo di un Modello per la Camminata Dinamica di un Robot Bipede" (Analysis and Development of a Model for the Dynamic Walking of a Biped Robot), Bachelor's Thesis, Politecnico di Milano, Italy (2007)


Patents:

2013

F.L. Moro, N.G. Tsagarakis, D.G. Caldwell
"An Attractor-based Whole-Body Motion Control (WBMC) System for an Articulated Robot"
Italian Patent Application TO2013A000828 - PCT/IB2014/065308

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