Mitarbeiter
Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Research interests:
- Nonlinear control
- Multibody dynamics
- Space robotics
- Flexible robots
- Locomotion
Projects:
2022-now: ACOR (DLR)
2020-now: M-Runners (ERC Advanced)
2017-2020: COMRADE (ESA)
2017-2018: Space Factory 4.0 (DLR)
2015-2016: e.deorbit phase B1 (ESA)
2014: DEOS (DLR)
2014-now: OOS-Sim
Journal publications:
[J11] D. Calzolari, C. D. Santina, A. M. Giordano, A. Schmidt and A. Albu-Schäffer, "Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped," in IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 2285-2292, April 2023, doi: 10.1109/LRA.2023.3249631.
[J10] H. Mishra, G. Garofalo, A. M. Giordano, M. De Stefano, C. Ott and A. Kugi, "Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications," in IEEE Transactions on Robotics, 2022, doi: 10.1109/TRO.2022.3206716. [PDF from publisher]
[J9] A.M. Giordano, D. Calzolari, M. De Stefano, H. Mishra, C. Ott, and Alin Albu-Schaeffer, "Compliant Floating-Base Control of Space Robots", IEEE Robotics and Automation Letters, July 2021. [PDF from publisher]
[J8] M. De Stefano, H. Mishra, A. M. Giordano, R. Lampariello, and C. Ott, “A relative dynamics formulation for hardware- in-the-loop simulation of on-orbit robotic missions,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3569–3576, 2021.
[J7] C. Della Santina, D. Calzolari, A.M. Giordano, and Alin Albu-Schaeffer, "Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions", IEEE Robotics and Automation Letters, 2021
[J6] F. Cavenago, A. M. Giordano, G. Garofalo, and M. Massari, "Unexpected collision detection, estimation and reaction for an orbital robot" Journal of Guidance, Control, and Dynamics, 2021.
[J5] F. Cavenago, A. M. Giordano, and M. Massari, "Contact detection, isolation and estimation for orbital robots through an observer based on a centroid-joints dynamics", Acta Astronautica, 2021.
[J4] A.M. Giordano, A. Dietrich, C.Ott, A. Albu-Schaeffer, "Coordination of thrusters, reaction wheels, and arm in orbital robots", Robotics and Autonomous Systems, 2020. [PDF] [PDF from publisher]
[J3] D. Calzolari, A. M. Giordano, and A. Albu-Schaeffer, “Error bounds for pd-controlled mechanical systems under bounded disturbances using interval arithmetic,” IEEE Robotics and Automation Letters, pp. 1–1, 2020. [PDF from publisher]
[J2] A.M. Giordano, C. Ott, and Alin Albu-Schaeffer, "Coordinated control of spacecraft's attitude and end-effector for space robots", IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 2108–2115, April 2019. [PDF] [PDF from publisher]
[J1] S. Jaekel, R. Lampariello, W. Rackl, M. De Stefano, N. Oumer, A. M. Giordano, O. Porges, M. Pietras, B. Brunner, J. Ratti, Q. Muehlbauer, M. Thiel, S. Estable, R. Biesbroek, and A. Albu-Schaeffer, “Design and operational elements of the robotic subsystem for the e.deorbit debris removal mission”, Frontiers in Robotics and AI, vol. 5, p. 100, 2018. [PDF from publisher]
Book chapters:
[BC1] M. De Stefano, M. A. Roa, R. Balachandran, A. M. Giordano, H. Mishra, N. Oumer, B. Brunner, M. Lingenauber, M. Stelzer, and R. Lampariello. "Design and validation of orbital robotic missions". In Xiu Yan and G. Visentin, editors, Space Robotics (in press). Springer, 2020
Peer-reviewed conference publications:
[C21] M. Giordano, S. Stivala, D. Calzolari and A. Albu-Schaeffer, "Energy and angular momentum control of robot running", 2023 31st Mediterranean Conference on Control and Automation (MED).
[C20] D. Calzolari, C. D. Santina, A. M. Giordano and A. Albu-Schäffer, "Single-Leg Forward Hopping via Nonlinear Modes," 2022 American Control Conference (ACC), 2022, pp. 506-513, doi: 10.23919/ACC53348.2022.9867538. [PDF from publisher]
[C19] J. Englsberger, A.M. Giordano, R. Schuller, F. Loeffl, G. Mesesan, C. Ott, "From Space to Earth – Relative-CoM-to-Foot (RCF) control yields high contact robustness," in 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, pp. 170-177, doi: 10.1109/HUMANOIDS47582.2021.9555804.
[C18] X. Chu, Y. Tang, A. M. Giordano, T. Chen, and K. W. S. Au, “Operational space control for planar pa n-1 underactuated manipulators using orthogonal projection and quadratic programming,” in 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021.
[C17] H. Mishra, M. De Stefano, A.M. Giordano, C. Ott, and A. Kugi, “Output Feedback Stabilization of Motion of an Orbital Robot,” in IEEE 59th Annual Conference on Decision and Control (CDC), Jeju Island, Dec 2020.
[C16] H. Mishra, A.M. Giordano, M. De Stefano, R. Lampariello, and C. Ott, “Inertia-Decoupled Equations for Hardware-in-the-Loop Simulation of an Orbital Robot with External Forces,” in International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Oct 2020.
[C15] D. Calzolari, R. Lampariello, and A.M. Giordano (2020). "Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning,", 2020 Robotics Science and Systems (RSS), Virtual Conference. 10.15607/RSS.2020.XVI.015.
[C14] H. Mishra, M. De Stefano, A. M. Giordano, R. Lampariello and C. Ott, "A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target," 2020 American Control Conference (ACC), Denver, CO, USA, July 2020, pp. 2150-2157, doi: 10.23919/ACC45564.2020.9147294.
[C13] F. Cavenago, A. M. Giordano, and M. Massari, “Contact force observer for space robots,” in IEEE 58th Annual Conference on Decision and Control (CDC), Dec 2019. [PDF from publisher]
[C12] J. Cieslak, D. Henry, P. Colmenarejo, N. Santos, J. Branco, P. Serra, J. Telaar, H. Strauch, A. Giordano, M. De Stefano, C. Ott, M. J. Reiner, J. Jaworski, E. Papadopoulos, G. Visentin, F. Ankersen, and J. Gil, “Assessment of a supervisory fault-hiding scheme in a classical guidance, navigation and control setup: the e.deorbit mission,” in 2019 4th International Conference on Control and Fault-Tolerant Systems (SYSTOL), Sep 2019.
[C11] H. Mishra, M. De Stefano, A. M. Giordano, and C. Ott, “A nonlinear observer for free-floating target motion using only pose measurements,” in 2019 Annual American Control Conference (ACC), June 2019.
[C10] D. Henry, J. Cieslak, J. Zenteno Torres, P. Colmenarejo, J. Branco, N. Santos, P. Serra, J. Telaar, H. Strauch, A. Giordano, M. De Stefano, C. Ott, M. J. Reiner, J. Jaworski, E. Papadopoulos, G. Visentin, F. Ankersen, and J. Gil, “Model-based fault diagnosis and tolerant control: the esas e.deorbit mission,” in 2019 European Control Conference (ECC), June 2019.
[C9] F. Cavenago, A. M. Giordano, and M. Massari, “An approach to contact detection and isolation for free-floating robots based on momentum monitoring,” in 2019 IEEE Aerospace Conference, March 2019.
[C8] A. Gallardo, H. Mishra, A. M. Giordano, and R. Lampariello, “Robust estimation of motion states for free-floating tumbling target capture,” in 2019 IEEE Aerospace Conference, March 2019 [PDF at publisher]
[C7] H. Mishra, M. De Stefano, A. M. Giordano, and C. Ott, “Tracking control with robotic systems fora moving target: A vector lyapunov function approach”, 2018, 12th IFAC Symposium on Robot Control SYROCO 2018.
[C6] A. M. Giordano, C. Davide, and A. Albu-Schaffer, “Workspace fixation for free-floating space robot operations,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018. [PDF from publisher]
[C5] M. De Stefano, R. Balachandran, A. M. Giordano, and C. Secchi, “An energy-based approach for the multi-rate control of a manipulator on an actuated base,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018.
[C4] A. Suarez, A. M. Giordano, K. Kondak, G. Heredia, and A. Ollero, “Flexible link long reach manipulator with lightweight dual arm: Soft-collision detection, reaction, and obstacle localization,” in IEEE International Conference on Soft Robotics (RoboSoft), April 2018.
[C3] A. M. Giordano, G. Garofalo, and A. Albu-Schaffer, “Momentum dumping for space robots,” in 2017 IEEE 56th Annual Conference on Decision and Control (CDC), Dec 2017, pp. 5243–5248. [PDF from publisher]
[C2] A. M. Giordano, G. Garofalo, M. De Stefano, C. Ott, and A. Albu-Schäffer, “Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta,” in Proceedings of the 55th IEEE Conference on Decision and Control, Dec 2016.
[C1] J. Artigas, M. D. Stefano, W. Rackl, R. Lampariello, B. Brunner, W. Bertleff, R. Burger, O. Porges, A. Giordano, C. Borst, and A. Albu-Schaeffer, “The OOS-SIM: An on-ground simulation facility for on-orbit servicing robotic operations,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015
Non peer-reviewed conference publications:
[5] P. Colmenarejo, N. Santos, P. Serra, J. Telaar, H. Strauch, M. D. Stefano, A. M. Giordano, H. Mishra, R. Lampariello, C. Ott, D. Henry, and G. Visentin,
“Results of the comrade project: Combined control for robotic spacecraft and manipulator in servicing missions: Active debris removal and re-fuelling,” in 11th international ESA Conference on Guidance, Navigation and Control Systems (GNC), 2021. [Online].
[4] P. Colmenarejo, J. Branco, N. Santos, P. Serra, J. Telaar, H. Strauch, A. M. Giordano, M. D. Stefano, C. Ott, M. Rainer, D. Henry, J. Jaworski, E. Papadopoulos, G. Visentin, F. Ankersen, and J. Gil-Fernandez, “Methods and outcomes of the comrade project - design of robust combined control for robotic spacecraft and manipulator in servicing missions” in 69th International Astronautical Congress, Sept 2018.
[3] T. Weber Martins, A. Pereira, T. Hulin, O. Ruf, S. Kugler, A. M. Giordano, R. Balachandran, F. Benedikt, J. Lewis, R. Anderl, K. Schilling, and A. Albu-Schffer, “Space factory 4.0 - new processes for the robotic assembly of modular satellites on an in-orbit platform based on ”industrie 4.0 approach”,” in 69th International Astronautical Congress, Sept 2018
[2] M. De Stefano, J. Artigas, A. M. Giordano, R. Lampariello, and A. Albu-Schffer, “On- ground experimental verification of a torque controlled free-floating robot,” in 13th Symposium on Advanced Space Technologies in Robotics and Automation 2015 (ASTRA 2015), May 2015.
[1] S. Jaekel, R. Lampariello, A. M. Giordano, W. Rackl, B. Brunner, O. Porges, and E. Krmer, “Robotic aspects and analyses in the scope of the e.deorbit mission phase b1,” in 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA 2017), June 2015.
Miscellaneous (workshops, thesis, others):
[M1] A. M. Giordano,"Whole-Body Control of orbital robots", dissertation, Technische Universität München (TUM). December 2020. [PDF]
[W1] A. M. Giordano, “Momentum-based whole-body control strategies for space robots”, in Workshop on Cognitive Whole-Body Control for Robot Manipulation at ICRA 2018, May 2018.