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People ■ Luca Colasanto
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Luca Colasanto

ADVR / Humanoids & Human Centred Mechatronics

Fellow-PhD
Mobile Phone +39 3280165028
Web Site http://it.linkedin.com/pub/luca-colasanto/28/478/333/en

Bio

January 2011 - December 2013 : PhD at the Advanced Robotics department of IIT in “Robotics, Cognition and Interaction Technologies”; PhD school in “Humanoid and Life Technologies”. Main topic : Trajectory generator for the human-like two-legged compliant robot "COMAN". Development of new approaches to perform walking on inclined surface and uneven terrain.
This includes: dynamic walking, robot modeling and simulation, force control, posture control, walking control, dynamic balance control.

 

September 2012 - December 2012 :  Research Intern at IHMC (Institute for Human and Machine Cognition), Pensacola, Florida (USA)

 

July 2011 : Summer School on “Soft Robots” in ETH (Zürich - Switzerland) - 40 hours of lectures.

 

July 2011 : Summer School on “Dynamic Walking and Running with Robots” in ETH (Zürich - Switzerland) - 40 hours of lectures.

October 2011 : Examination for qualification as professional Engineer.

 

April 2010 : Master degree in Control Systems Engineering at Politecnico di Bari (Italy). Marks 110 / 110 cum Laude.

Thesis on Identification and Intelligent Control : "Intelligent mapping in a dataglove based telemanipulation system for the Schunk Anthropomorphic Hand".

 

September 2009 – March 2010 : Erasmus student exchange programme - work on my final project with an anthropomorphic robotic hand at the Institut d’Organització i Control de Sistemes Industrials (IOC) of the Universitat Politècnica de Catalunya (UPC) Barcelona, Spain under the supervision of Dr. Raúl Suárez Feijóo.

 

October 2007 : Bachelor degree in Control System Engineering at Politecnico di Bari (Italy). Marks 110 / 110 cum Laude.

Thesis on Electric Machines and Actuators : "Control of Synchronous Motor by CNC Sinumerik 840D sl".

 

July 2004 : Diploma of scientific lyceum at ITIS Guglielmo Marconi of Bari. Marks 100/100.

January 2011 - December 2013 : PhD at the Advanced Robotics department of IIT in “Robotics, Cognition and Interaction Technologies”; PhD school in “Humanoid and Life Technologies”. Main topic : Trajectory generator for the human-like two-legged compliant robot "COMAN". Development of new approaches to perform walking on inclined surface and uneven terrain.
This includes: dynamic walking, robot modeling and simulation, force control, posture control, walking control, dynamic balance control.

 
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Projects

The current research is supported by the FP7 European project AMARSI (ICT - 248311).

The current research is supported by the FP7 European project AMARSI (ICT - 248311).

Selected Publications

Twan Koolen, Jesper Smith, Gray Thomas, Sylvain Bertrand, John Carff, Nathan Mertins, Douglas Stephen, Peter Abeles, Johannes Englsberger, Stephen McCrory, Jeff Van Egmond, Maarten Griffioen, Marshall Floyd, Samantha Kobus, Nolan Manor, Sami Alsheikh, Daniel Duran, Eric Morphis, Luca Colasanto, Khai-Long Ho Hoang, Brooke Layton, Peter Neuhaus, Matthew Johnson, Jerry Pratt, ''Summary of Team IHMC's Virtual Robotics Challenge Entry", International Conference on Humanoid Robots (Humanoids 2013).

Jerry Pratt, Twan Koolen, Khai –Long Ho Hoang, Luca Colasanto, “Capturability –based Analysis and Control of Dynamic Scrambling with Multiple Contacts on Rough Terrain”, Dynamic Walking 2013, Pittsburgh, Pennsylvania, USA.

Luca Colasanto, N.G. Tsagarakis, Zhibin Li, Darwin G. Caldwell, “Internal Model Control Strategy in Cartesian Space for a Compliant Humanoid Robot“, International Conference on Intelligent Robots and Systems (IROS 2012), pp 5347-5352 .

P.Kormushev, B. Ugurlu, Luca Colasanto, N. Tsagarakis, and D.G. Caldwell, "The Anatomy of a Fall: Automated Real-time Analysis of Raw Force Sensor Data from Bipedal Walking Robots and Humans", International Conference on Intelligent Robots and Systems (IROS 2012).

Luca Colasanto, Petar Kormushev, Nikolaos Tsagarakis, Darwin G. Caldwell. Optimization of a compact model for the compliant humanoid robot COMAN using reinforcement learning. International Journal of Cybernetics and Information Technologies, Vol. 12, No. 3, pp. 76-85, 2012.

Luca Colasanto, NG Tsagarakis, DG Caldwell, “A Compact Model for the Compliant Humanoid Robot COMAN”, BioRob 2012, pp 688-694.

Zhibin Li, Bram Vanderborght, N.G.Tsagarakis, Luca Colasanto, D.G.Caldwell, “Compliant Humanoid Stabilization under Impact Disturbances Using Passive Structures and Active Compliance Control”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota.

Luca Colasanto, R. Suárez, and J. Rosell, “Hybrid mapping for the assistance of teleoperated grasping tasks”,IEEE Transactions on Systems, Man, and Cybernetics: Systems (ISSN: 2168-2216) (DOI: 10.1109/TSMCA.2012.2195309), Volume 43 , Issue 2 (2013), pp. 390-401.R. Suárez, J. Rosell y Luca Colasanto, “Teleoperación de manos antropomorfas”, ROBOT 2011 Robótica Experimental, (ISBN 978-84-615-6787-4), Sevilla, España, Noviembre 28-29, 2011, pp. 588-594.

Twan Koolen, Jesper Smith, Gray Thomas, Sylvain Bertrand, John Carff, Nathan Mertins, Douglas Stephen, Peter Abeles, Johannes Englsberger, Stephen McCrory, Jeff Van Egmond, Maarten Griffioen, Marshall Floyd, Samantha Kobus, Nolan Manor, Sami Alsheikh, Daniel Duran, Eric Morphis, Luca Colasanto, Khai-Long Ho Hoang, Brooke Layton, Peter Neuhaus, Matthew Johnson, Jerry Pratt, ''Summary of Team IHMC's Virtual Robotics Challenge Entry", International Conference on Humanoid Robots (Humanoids 2013).

Jerry ...

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