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Dr. Gianluca Garofalo

DLR German Aerospace Center
Institute of Robotics and Mechatronics
Analysis and Control of Advanced Robotic Systems
Oberpfaffenhofen
Muenchener Str. 20
82234 Wessling

telephone: +49 8153 28-3748
email: Dr. Gianluca Garofalo

 

 

Hi and welcome to my homepage.
I am working at the DLR since 2011, where I have dealt with control of flexible joint robots, orbital stabilization and locomotion. Scrolling down you will see my short CV, my fields of research and the list of my publications.
I hope you enjoy the reading and do not hesitate to contact me (preferably by email), if you have questions or are interested in collaborations.

 

CV

2011 - now          Researcher at DLR
2017                     Ph.D. in Electrical Engineering, Technische Universität München, Germany
2008 - 2010        M.Sc. in Automation Engineering, Università degli Studi di Napoli Federico II, Italy
2005 - 2008        B.Sc. in Automation Engineering, Università degli Studi di Napoli Federico II, Italy

 

Fields of Interest 

  • Nonlinear Control
  • Orbital Stabilization
  • Flexible Joint Robots
  • Impedance Control
  • Kinematic Redundancy
  • Robot Dynamics
  • Humanoid Robots
  • Bipedal Locomotion

 

Publications

PhD
  • G. Garofalo, "Energy based limit cycle control for elastically actuated biped robots" [PDF]
Journal Publications
  • G. Garofalo and C. Ott, "Energy Based Limit Cycle Control of Elastically Actuated Robots," in IEEE Transactions on Automatic Control, vol. 62, no. 5, pp. 2490-2497, May 2017 [PDF]
  • G. Garofalo and C. Ott, "Limit Cycle Control Using Energy Function Regulation With Friction Compensation," in IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 90-97, Jan. 2016 [PDF]
  • T. Petric, L. Žlajpah, G. Garofalo and C. Ott, "Walking with Adaptive Oscillator and Dynamic Movement Primitives," in International Journal of Mechanics and Control, vol. 15, no. 1, pp. 3-10, Jun. 2014 [PDF]
International Conference Papers
  • H. Sadeghian, C. Ott, G. Garofalo and G. Cheng, "Passivity-based Control of Underactuated Biped Robots within Hybrid Zero Dynamics Approach," 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 4096-4101 [PDF]
  • 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," 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 7527-7534 [PDF]
  • G. Garofalo and C. Ott, "Steps towards energy efficiency in elastically actuated robots," Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR 2016, London, 2016, pp. 780-782 [PDF]
  • G. Garofalo, J. Englsberger and C. Ott, "On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations," 2015 American Control Conference (ACC), Chicago, IL, 2015, pp. 4825-4831 [PDF]
  • G. Garofalo, B. Henze, J. Englsberger and C. Ott, "On the inertially decoupled structure of the floating base robot dynamics," 8th Vienna International Conferenceon Mathematical Modelling MATHMOD 2015, Vienna, 2015, pp. 322-327 [PDF]
  • J. Englsberger, A. Werner, C. Ott, B. Henze, M. A. Roa, G. Garofalo, R. Burger, A. Beyer, O. Eiberger, K. Schmid and A. Albu-Schäffer, "Overview of the torque-controlled humanoid robot TORO," 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, 2014, pp. 916-923 [PDF]
  • D. Lakatos, G. Garofalo, A. Dietrich and A. Albu-Schäffer, "Jumping control for compliantly actuated multilegged robots," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 4562-4568 [PDF]
  • G. Garofalo, C. Ott and A. Albu-Schäffer, "On the closed form computation of the dynamic matrices and their differentiations," 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013, pp. 2364-2359 [PDF]
  • T. Petric, L. Žlajpah, G. Garofalo and C. Ott, "Walking Control Using Adaptive Oscillators Combined with Dynamic Movement Primitives," 22nd International Workshop on Robotics in Alpe-Adria-Danube Region Portoroz, 2013, pp. 204-211 [PDF]
  • G. Garofalo, C. Ott and A. Albu-Schäffer, "Orbital stabilization of mechanical systems through semidefinite Lyapunov functions," 2013 American Control Conference, Washington, DC, 2013, pp. 5715-5721 [PDF]
  • D. Lakatos, G. Garofalo, F. Petit, C. Ott and A. Albu-Schäffer, "Modal limit cycle control for variable stiffness actuated robots," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 4934-4941 [PDF]
  • G. Garofalo, C. Ott and A. Albu-Schäffer, "Walking control of fully actuated robots based on the Bipedal SLIP model," 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, 2012, pp. 1456-1463 [PDF]
Video Publications
  • B. Henze, A. Werner, M. A. Roa, G. Garofalo, J. Englsberger and C. Ott, "Control applications of TORO — A Torque controlled humanoid robot," 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, 2014, pp. 841-841, Best Video Award [VIDEO]

 

 

Last updated on Tuesday, 06 November 2018 by Dr. Gianluca Garofalo