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Luigi Biagiotti


Assistant Professor @ DIEF
luigi.biagiotti@unimore.it
Tel.: +39 059 205 6315
Room: MO-26-02-17

ORCID ID: 0000-0002-2343-6929
SCOPUS ID: 55970522500


Personal Information

Luigi Biagiotti was born in Ravenna, Italy, in 1975. In 2000, he graduated in electronics engineering at the University of Bologna, Italy, working on the control of a robotic gripper for space application. In 2001, he spent six months at the Institute of Robotics and Mechatronics of DLR (German Space Agency), working on the cartesian  impedance control of the dexterous robotic hand called DLR-Hand II. In 2003 he received the Ph.D. degree in Automatica and Operations Research from the University of Bologna with a thesis titled “Advanced Robotic Hands: Design and Control Aspects” . From 2003 to  2008, he has been postdoctoral researcher at Department of Electronics, Computer Science and Systems  of the University of Bologna, working on the design and control of dexterous robotic hands with simplified endoskeletal structure, tendinous actuation and visco-elastic skin.   Since September 2008, he joined the Department of Engineering “Enzo Ferrari”  (formerly Department of Information Engineering) of University of Modena and Reggio Emilia as Assistant Professor in the area of automatic control.

Research Activity

Research activities carried out since 2000 have been focused on the following topics: analysis and design of advanced robotic end-effectors with particular attention to the  sensory system and control architecture; nonlinear control applied to robotic systems interacting with the environment (impedance/force control, tele-manipulation). Since 2007, the research activity of Biagiotti has been mainly focused on  optimal trajectory planning methods for electro-mechanical systems and robots under kinematic and dynamic constraints.  The results of  activity has been partially collected in a monography for the editor Springer titled “Trajectory planning for automatic machines and robots”. More recently, the design of trajectories has been connected with feed-forward control methods based on dynamic filters with finite impulse response. This approach has been successfully applied to the online planning of trajectories with kinematics bounds,   the suppression of residual vibrations both in the mono- and multi-dimensional case, the suppression of sloshing phenomena in liquid handling robotic systems. Moreover, the filters have been used as basic elements for defining new control architectures for industrial applications, based on repetitive control and iterative learning methods.

Publications

Click here for the full list of publications

Research Projects

[2002] Participation to the national project  MATRICS "Methodologies Applications and Technologies for Robot Interaction Cooperation and Supervision," PRIN 2002.
[2003] Participation to the national project OASYS "Open source software for industrial Automation and distributed SYstemS," PRIN 2003.
[2005] Participation to the national project AIDA " Design e Applicazioni di Interfacce aptiche Avanzate: contatto soffice, multi punto e integrazione multimodale " PRIN 2005.
[2005-2008] Member of LARER (Laboratorio di Automazione e Robotica della Regione Emilia-Romagna).
[2001-2006] Participation to a number of industrial projects, funded by ASI (Italian Space Agency), focussed on the development of robotic manipulators/end-effectors for space activities (2001 - “MARVISS Mano Antropomorfa e realtà virtuale per sistemi robotici della stazione spaziale”, 2003 - "SUPER: Space Unmanned Planetary Exploration Rover", 2004 - “Robotic Technologies for Robotic Servicing of Orbiting Infrastructure”, 2006 “ROMANCE - Robotic Systems for Moon Exploration”).

Technological transfer

Since 2005, Biagiotti co-operates with  many companies working in the fields of motion control, packaging machines and robotics for the design of motion laws and filters for trajectory planning.
In particular:
[2005] TEXComputer. Design of 3D trajectory for high speed machines.
[2008] IMA SpA. Online planning of trajectories for packaging machines under constraints of velocity, acceleration, jerk.
[2012] IMA SpA. Control and trajectory planning for a parallel robot for high speed pick-and-place tasks.
[2015] SACMI. Optimization of the inverse kinematics of a painting robot with redundant structure
[2016] SACMI. Optimization of 3D  trajectories (position/orientation) for a painting robot.

Teaching

He is currently teacher  of “Controlli Automatici” (Automatic Controls) and “Systems and Control Theory” at the Department of Engineering “Enzo Ferrari” (DIEF) of University of Modena and Reggio Emilia.
He teaches a class on kinematics modeling and trajectory planning for robotic systems at an Higher Technical Education and Training course (IFTS) for “Tecnico esperto in sistemi industriali automatizzati e robotizzati” (technician for automation and robotics).
Recently, he held a class on "Design and Optimization of Motion Profiles for Automatic Machines" at the Accademy of IMA - Industria Macchine Automatiche - group (Course Program - in italian)