Field Robotics

Mon, 01 Jan 0001 00:00:00 +0000

Overview

Field robotics deals with the fundamentals and applications of mobile robots operating in unstructured and dynamic environments, where conditions cannot be controlled. Applications include, but are not limited to: precision agroforestry, construction, space exploration, and industrial inspection. Our research focuses on the development of novel algorithms for perception, planning and control of mobile robots (tracked, wheeled, legged), parameter modeling and system identification (e.g., slippage in tracked robots on slopes), as well as novel unconventional robot designs (e.g., roped-legged).

Prototyping and Development of Climbing Robots

In addition to theoretical research, our group is also involved in the prototyping and development of advanced robotic systems designed for a variety of applications. One of these projects is the creation of a climbing robot, Alpine, developed with the goal of reducing human presence in difficult or hazardous environments. By implementing advanced optimization systems, the robot is capable of avoiding obstacles and navigating complex environments in a semi-autonomous or fully autonomous manner. This system enables analysis, maintenance, and inspection operations in high-risk environments such as rock walls,is specifically designed to carry heavy tools, remain stationary without consuming energy, thereby minimizing direct human exposure to extreme conditions. The development of this prototype required the integration of multiple multidisciplinary skills, including:

Mechanical engineering: design and construction of the climbing robot structure, involving knowledge of pneumatics, applied physics, and 3D modeling.
Electronics and mechatronics: selection and integration of sensors and actuators necessary for the robot’s operation and stability.
Computer science and robotics: development of control and navigation software, including computer vision algorithms for environment recognition, surface classification, and foreign object detection, as well as optimization algorithms for path planning.
Supervision and remote control systems: development of a web application for real-time monitoring and remote operation of the robot, allowing operators to supervise tasks and intervene safely and efficiently.

The webpage of the WIKI of the project can be found here: https://github.com/alpine-robot.

The Climbing Robot Team

Michele Focchi - Professor
Ruben Malacarne - Student
Luca Hardonk - Student

Michele Focchi

Mon, 01 Jan 0001 00:00:00 +0000

Michele Focchi is a world-recognized expert in motion planning and control of quadruped robots, with 16 years of experience in robotics. He is particularly known for his pioneering work on heuristic locomotion in unstructured terrains. His research lies at the intersection of control, optimization, and machine learning, with a focus on enhancing quadruped robot performance in challenging environments through optimization-based techniques. Currently, he is a Professor at the University of Trento in the Department of Information Engineering and Computer Science (DISI), where he teaches introductory robotics courses and a Scientific Advisor for All3. From 2022 to 2024, He was also a visiting scientist at the Istituto Italiano di Tecnologia (IIT), where previously he co-founded the Dynamic Legged Systems (DLS) Lab, a leading international research team dedicated to the development of quadruped robots and their locomotion. Dr. Focchi earned both his B.Sc. and M.Sc. in Control Systems Engineering from Politecnico di Milano. In 2013, he completed his Ph.D. in Robotics at IIT, contributing to the Hydraulically Actuated Quadruped Robot project. His work evolved from low-level controllers for locomotion to whole-body control, model identification, and robust locomotion strategies for real-world platforms. He has also explored innovative robotic platforms, including a rappelling robot for hydro-geological risk reduction and control strategies for tracked robots in agriculture.
Beyond academia, Dr. Focchi has played key roles in several high-profile industrial and academic projects, including ECHORD++, INAIL, and ANT with the European Space Agency. In 2015, he co-founded the MOOG-IIT joint lab to develop advanced software and control solutions for autonomous robots. He has organized several scientific workshops and delivered over 20 invited talks at international events.
He is an Associate Editor for RA-L and the ICRA conference. He has authored or co-authored more than 53 scientific papers in international journals and conferences, with a high citation record, and has supervised numerous Master’s and Ph.D. theses. Michele joined the Interdepartmental Robotics Lab (IDRA) where he is the leading researcher of the digital agriculture robotics group.

More information are available at Michele’s webpage.

Michele Focchi | IDRA Labs

Field Robotics

Overview

Prototyping and Development of Climbing Robots

The Climbing Robot Team

Michele Focchi