Giuseppe L'Erario

Giuseppe L'Erario

Ph.D. student

Artificial and Mechanical Intelligence Lab

Biography

I received my bachelor’s degree in aerospace engineering and a master’s in artificial intelligence and robotics from the Sapienza University of Rome, Rome, Italy, in 2015 and 2019, respectively. I carried out my master’s thesis with the Artificial and Mechanical Intelligence Lab at IIT, focusing on the modeling, identification, and control of small-scale jet engines in the context of the iRonCub project, whose aim is to create the first jet-powered flying humanoid robot.

I am currently a Ph.D. student at the University of Manchester, researching the application of optimal control and planning for aerial humanoid robotics locomotion, working in the Artificial and Mechanical Intelligence Lab under the supervision of Dr. Daniele Pucci.

Have a look at our iRonCub project here!

Download my cv.

Interests
  • Robotics 🤖
  • Optimization 🪄
  • Estimation and SLAM 🌍
  • Football ⚽
  • Photography 📷
  • Drawing 🖌️
  • Cooking 🍝
Education

  • PhD Candidate, Present

    University of Manchester

  • MSc in Artificial Intelligence and Robotics, 2019

    Sapienza universita' di Roma

  • BSc in Aerospace Engineering, 2015

    Sapienza universita' di Roma

Libraries

ADAM
ADAM implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
Link
liecasadi
Rigid transform using Lie groups, written in CasADi!
Link
matlab-whole-body-simulator
A robot simulator running on simulink.
Link

Skills

Programming 💻

  • python, matlab, latex, experience with C++

Tools and libraries 📚

  • git, Gazebo, Yarp, Linux, experience with ROS

Experience

 
 
 
 
 
Ph.D. Research Fellow at the Artificial and Mechanical Intelligence Lab
Istituto Italiano di Tecnologia
Jan 2020 – Present Genova, Italy

Working in the context of the iRonCub project under the supervision of Dr. Daniele Pucci.

  • Optimization
  • Control
  • Simulation
  • Sw development
 
 
 
 
 
Research Fellow at the Artificial and Mechanical Intelligence Lab
Istituto Italiano di Tecnologia
Jun 2019 – Dec 2019 Genova, Italy
Working in the context of the iRonCub project under the supervision of Dr. Daniele Pucci, for my master thesis.
 
 
 
 
 
Visiting student at the Artificial and Mechanical Intelligence Lab
Istituto Italiano di Tecnologia
Jun 2019 – Dec 2019 Genova, Italy
Working in the context of the iRonCub project under the supervision of Dr. Daniele Pucci, for my master thesis.
 
 
 
 
 
SPQR@Work team member
Sapienza Università di Roma
Oct 2017 – Feb 2019 Roma, Italy
Developing the navigation module for the SPQR@Work team, a spin‑off of the S.P.Q.R. RoboCup team.

Publications

Quickly discover relevant content by filtering publications.
Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci (2022). Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022).

Cite Code

Fabio Bergonti, Gabriele Nava, Giuseppe L'Erario, Luca Fiorio, Daniele Pucci (2022). Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots. IEEE Transactions on Robotics.

PDF Cite Code Video

Affaf Junaid Ahamad Momin, Gabriele Nava, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Fabio Bergonti, Punith Reddy Vanteddu, Francesco Braghin, Daniele Pucci (2022). Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines. International Conference on Robotics and Automation.

PDF Cite Video

Romualdi Giulio, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci (2022). Online non-linear centroidal MPC for humanoid robot locomotion with step adjustment. International Conference on Robotics and Automation.

PDF Cite Code Video

Tong Hui, Antonello Paolino, Gabriele Nava, Giuseppe L'Erario, Fabio Di Natale, Fabio Bergonti, Francesco Braghin, Daniele Pucci (2022). Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots. International Conference on Robotics and Automation.

PDF Cite Video

Hosameldin Awadalla Omer Mohamed, Gabriele Nava, Giuseppe L'Erario, Silvio Traversaro, Fabio Bergonti, Luca Fiorio, Punith Reddy Vanteddu, Francesco Braghin, Daniele Pucci (2021). Momentum-based extended Kalman filter for thrust estimation on flying multibody robots. IEEE Robotics and Automation Letters.

PDF Cite Video

Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Emilio Benenati, Silvio Traversaro, Daniele Pucci (2020). Modeling, identification and control of model jet engines for jet powered robotics. IEEE Robotics and Automation Letters.

PDF Cite Video

Rocco Antonio Romeo, Luca Fiorio, Giuseppe L'Erario, Marco Maggiali, Giorgio Metta, Daniele Pucci (2020). Dynamic control of a rigid pneumatic gripper. IEEE Robotics and Automation Letters.

PDF Cite

Contact