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RBE Colloquium Series: Dr. Enrico Mingo Hoffman | Model-Based Optimization for Whole-Body Motion Planning & Control

Friday, March 25, 2022
2:00 pm to 3:00 pm

Robotics Engineering Colloquium Series


Dr.Enrico Mingo Hoffman

 PAL Robotics

Model-Based Optimization for Whole-Body Motion Planning & Control

Friday, March 25th

2:00 PM - 3:00 PM

Virtual Zoom Link :


Abstract: "Humanoid robots are challenging and fascinating platforms capable to locomote and manipulate the environment as a human does. This characteristic makes this type of platform tailored to help and replace human intervention in particularly dangerous places or in fatiguing jobs.  However, such a level of capabilities is not yet fully achieved in humanoid robotic systems. In particular, fully exploiting multi-contact and dynamic whole-body motions is yet challenging from the software and hardware point of view.This talk will present recent developments in whole-body motion planning and control and their applications in humanoid robots. In particular, a pipeline for advanced loco-manipulation based on sample-based planning on manifold will be introduced, together with tools to plan and control dynamic motions in presence of complex closed linkages. This last, are one of the main important characteristics in KANGAROO, the brand new human-size biped robot designed and manufactured by PAL Robotics, capable to perform dynamic motions such as jumps. This presentation will introduce as well the new KANGAROO robot and preliminary results obtained using this new research platform." 


Short-Bio: "Enrico Mingo Hoffman received his Bachelor's Degree in Electronics Engineering and Master's Degree in Artificial Intelligence and Robotics both at University of Rome 'La Sapienza', in 2008 and 2011 respectively. In 2012 he was employed as Robotics Engineer in PAL Robotics, Barcelona, working on  navigation and SLAM for service robots.In 2016 he received the Ph.D. degree in Robotics, Cognition and Interaction Technologies at the Istituto Italiano di Tecnologia (IIT) and the University of Genoa with a thesis entitled 'Simulation and Control of Humanoid Robots for Disaster Scenarios'. In 2015 he participated to the DARPA Robotics Challenge (DRC) as a main member of the WALK-MAN Team. He also contributed to the establishment of the software infrastructure of the Advanced Robotics (ADVR) department and Humanoids & Human Centered Mechatronics (HHCM) lab.In 2016 he became Post-Doc at IIT researching hierarchical whole-body Inverse Dynamics and Cartesian impedance control, tele-operation, motion planning and locomotion, optimization and software architectures for humanoid robots. During this period he participated in the development of the COMAN+ and CENTAURO platforms.At the moment he is a Senior Researcher in Humanoid Robotics at PAL Robotics. His main research interests are kinematics and dynamics of robots, fixed and floating base robot motion control, manipulation, impedance and force control, task space whole-body control, compliant interaction, planning, trajectory optimization, locomotion and tele-operation."