Graduated in Mechatronic Engineering from the São Carlos School of Engineering (EESC-USP), where he conducted FAPESP-funded undergraduate research in advanced analysis and linear algebra. During his studies, he completed a six-month exchange program at Purdue University (USA).He is currently a direct-entry PhD candidate in Robotics within the Mechanical Engineering Graduate Program at USP São Carlos, supported by a FAPESP scholarship, and affiliated with the Robotics Laboratory and the LegRo legged robots research group. As part of his doctoral studies, he participated in a six-month exchange at ETH Zurich (Switzerland), engaging in torque actuator benchmarking activities in a laboratory setting. His research focuses on the application of Koopman operators for the control of nonlinear systems, emphasizing Model Predictive Control and performance metrics for force and impedance controllers. (Source: Lattes Curriculum)
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Humans and many other animals adapt the mechanical impedance of their body and limbs depending on the task and the environment or object with which they interact. One of the great advantages of a robot with impedance control is precisely that it has the ability to adjust this impedance in real-time, going for example from a more rigid profile to a more compliant one during the course of a…
The objective is to get both quantitative and qualitative results that allow establishing relations between a valve's bandwidth, the sampling frequency, and a control method, considering its performance requirements e.g. settling time. For example, we expect that those relations, given the desired closed-loop cutoff frequency, will suggest the best dynamics properties and operational tem…
Study Mathematical Analysis, Topology of Metric Spaces, Lebesgue Integral and Functional Analysis
The project's main objective is to extend the methodology to classify force/torque controllers. It is currently under development and it will be extended to include rotary motion using electric actuators. The project will use a test bench developed, for this purpose, at the Robotics Systems Lab at ETHZ. During the project, the torque control performance of several electrical actuators and…
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