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- Humanoids and Human Centered Mechatronics (HHCM)
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- The Humanoid and Human Centred Mechatronics
- (HHCM) Research Line is a leading research
- laboratory with strong expertise in robot
- design, modelling and control of new
- mechatronics components (actuation and
- sensing) for building the next generation of
- enhanced physical performance robots,
- effective interfaces and augmentation systems.
- The activity of the lab explores
- both the mechatronic technological limits,
- state of art design approaches (structural,
- actuation and transmission systems) combined
- with advancements in control including whole
- body loco-manipulation generation, balancing
- regulation and teleoperation control.
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- HHCM is the home laboratory of the humanoid
- platforms COMAN, WALK-MAN, COMAN+
- and CENTAURO hybrid wheeled-legged quadrupedal
- platform. The lab also concentrates on the
- development of innovative wearable devices
- such as customized hand/arm Master systems for
- teleoperation control and augmentation
- technologies including wearable assistive
- devices for the human limbs.
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- The research activities of research line focus
- on the development of advanced robotic
- machines targeting to assist humans in
- operations executed in remote and hazardous
- environments or in more conventional
- industrial and warehouse workspaces. The
- development of such robotic systems
- necessitates significant advancements in robot
- design, actuation, software, control and
- interface components.
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- - In one direction our
- research concentrates on advancing the state
- of art of robotics mechatronics enabling the
- realization of robots (legged robots,
- humanoids, manipulation platforms and wearable
- devices) that can mirror the physical
- performance of the human body, demonstrating
- enhanced power and strength performance
- combined with physical resilience during
- challenging interactions.
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- - A second line of research
- is devoted to the realization of real time
- loco-manipulation planning, interaction
- control, software tools and interfaces aiming
- to endow the developed robotic platforms with
- enhanced motion and interaction adaptation
- skills.
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- This activity targets to advance the robot
- design towards more performing robots,
- leveraging on mechanical optimization of
- lightweight structures, selection of
- kinematics, efficient placement of
- actuators and transmission systems,
- including efficient energy-storage
- concepts integrated with the robot
- actuation system.
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- The aim of this activity is to develop
- versatile and configurable software
- middleware tools that permits to abstract
- the robot specific hardware, providing a
- simple and easy-to-use middleware
- Application Programming Interface (API),
- while ensuring Real-Time (RT)
- performance even in complex
- Multi-Degree-Of-Freedom systems.
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- With this research activity our effort
- concentrates on the development of
- versatile real-time loco-manipulation
- control tools by exploring modern
- optimization techniques and impedance
- modulation control to realize whole body
- motion and interaction skills that
- demonstrate enhanced adaptability to real
- world interaction and uncertainties.
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- Robot Teleoperation
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- This activity focuses on the development
- of advanced teleoperation tools and
- interfaces that combine the research and
- development on dexterous Master devices
- for hand-arm motion tracking and
- proprioceptive feedback interfaces towards
- the realization truly effective
- tele-manipulation control of remote mobile
- robotic platforms.
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