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1 Victor Barasuol Curriculum Vitae Personal Name Victor Barasuol. Birth Date 14/08/1982. Nationality Brazilian. Place of Birth São Miguel do Oeste, Santa Catarina. Position Local Address Current Position Senior Post-doc Researcher at the Dynamic Legged Systems Lab, Advanced Robotics Department, Since Istituto Italiano di Tecnologia - IIT. Via Morego - 30, CAP 16163, Genova/GE, Italy. Phone Web victor.barasuol@iit.it. Education Doctorate Degree in Automation and Systems Engineering, Universidade Federal de Santa Catarina - UFSC, Florianólis/SC, Brazil. "Federal University of Santa Catarina" Master Degree in Electrical Engineering, Universidade Federal de Santa Catarina - UFSC, Florianópolis/SC, Brasil. "Federal University of Santa Catarina" Bachelor s Degree in Electrical Engineering, Universidade do Estado de Santa Catarina - UDESC, Joinville/SC, Brazil. "Santa Catarina State University" victor.barasuol@iit.it 1/6
2 Complementary Courses 2014 Machine Learning. Duration: 60 hours. Coursera (Stanford University Online Course). Professor Andrew Ng Machine Learning Crash Course. Duration: 20 hours. Università degli Studi di Genova. Professors Lorenzo Rosasco and Francesca Odone Model Predictive Control. Duration: 20 hours. Politecnico di Milano. Professor Riccardo Scatolini. Projects Doctorate Thesis: A Reactive Controller Framework for Quadruped Robots Advisor Professor Edson Roberto De Pieri, Dr. Co-Advisor Professor Victor Juliano De Negri, Dr CEMAR Project: Development of a Tele-Operated Crane for Power Lines Insulators Cleaning Position Project Head Research Engineer Victor Juliano De Negri, Dr Master Thesis: Indirect Force Control for Robot Manipulators with Elastic Joints Used in Milling Tasks Advisor Co-Advisor Professor Edson Roberto De Pieri, Dr. Professor Raul Guenther, Dr. (in memorian) SAE Aerodesign Competition Position Aerodynamics and Control Designer Coordinators Professors Reinaldo Mair and Marcelo da Silva Hounsell Collaboration Collaborators Institutional Collaborations IIT-UFSC Istituto Italiano di Tecnologia (IIT), by means of the Dynamic Legged Systems Lab (DLS Lab), and Federal University of Santa Catarina (UFSC), by means of the Laboratory of Hydraulic and Pneumatic Systems (LASHIP) and the Automation and Systems Department (DAS). Coordinators IIT: Dr. Victor Barasuol. UFSC/LASHIP: Prof. Dr. Victor Juliano De Negri. UFSC/DAS: Prof. Dr. Edson Roberto De Pieri. victor.barasuol@iit.it 2/6
3 Student (Co-)Supervision 2014 Pham Huy Nguyen, University of Genoa, Master Student Dmitrij Dorezyuk, Technical University of Munich, Master Student Current Job Angel Ledezma Perez, Federal University of Santa Catarina, PhD Student Current Yifu Gao, Istituto Italiano di Tecnologia, PhD Student Current Octavio Villarreal Magaña, Istituto Italiano di Tecnologia, PhD Student. Review Activities Journals Conferences Transactions on Mechatronics Mechatronics IEEE Robotics and Automation Letters International Conference on Robotics and Automation - ICRA International Conference on Intelligent Robots and Systems - IROS International Conference on Advanced Intelligent Mechatronics - AIM Mediterranean Conference on Control and Automation - MED Awards 2003 Inovative Configuration, SAE Aerodesign Competition, Brazilian Edition th Place, SAE Aerodesign Competition, Brazilian Edition Best Aircraft Construction, SAE Aerodesign Competition, Brazilian Edition. Skills Softwares Languages Windows, MS Office, Linux, Matlab, Simulink, Latex, C/C++ and Git. Portuguese (mother tongue), English (fluent), Italian (fluent) and Spanish (basic). Publications (citations: 239; h-index: 8; from Google Schoolar) 2017 E. Heijmink. A. Radulescu, B. Ponton, V. Barasuol, D. G. Caldwell and C. Semini. Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion IEEE-RAS International Conference on Humanoid Robots S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. G. Caldwell, C. Semini and M. Fallon. Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots Robotics: Science and Systems - RSS M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D. G. Caldwell and C. Semini. Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots IEEE Robotics and Automation Letters J. A. Ledezma, V. J. De Negri, V. Barasuol. On the Inherent Stability of a Hydraulic Force Control System Interacting With a Pneumatic System ASME/BATH Symposium on Fluid Power and Motion Control - FPMC. victor.barasuol@iit.it 3/6
4 2017 Y. Gao, V. Barasuol, D. G. Caldwell and C. Semini. Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs IEEE International Conference on Advanced Robotics and Mechatronics - ICARM Y. Gao, V. Barasuol, D. G. Caldwell and C. Semini. Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability 2016 IEEE International Conference on Robotics and Biomimetics - ROBIO C. Semini and V. Barasuol and J. Goldsmith and M. Frigerio and M. Focchi and Y. Gao and D. Caldwell. Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max IEEE/ASME Transactions on Mechatronics C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, M. Focchi, D. G. Caldwell and J. Buchli. Towards versatile legged robots through active impedance control The International Journal of Robotics Research - IJRR M. Focchi, V. Barasuol, M. Frigerio, D. G. Caldwell and C. Semini. Slip Detection and Recovery for Quadruped Robots International Symposium on Robotics Research - ISRR V. Barasuol, M. Camurri, S. Bazeille, D. G. Caldwell and C. Semini. Reactive Trotting with Foot Placement Corrections throught Visual Pattern Classification IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS C. Semini, J. Goldsmith, B. U. Rehman, M. Frigerio, V. Barasuol, M. Focchi and D. G. Caldwell. Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur The Fourteenth Scandinavian International Conference on Fluid Power - SICFP H. Khan, S.Kitano, M. Frigerio, M. Camurri, V. Barasuol, R. Featherstone, D. G. Caldwell and C. Semini. Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ IEEE International Conference on Technologies for Practical Robot Applications - TEPRA C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, D. G. Caldwell, J. Buchli. Towards Versatile Legged Robots Through Active Impedance Control. International Journal of Robotics Research. (submetido) 2014 S. Bazeille, V. Barasuol, M. Focchi, M. Frigerio, I. Havoutis, D. G. Caldwell, C. Semini, Quadruped Robot Trotting over Irregular Terrain Assisted by Stereo-Vision. Journal of Intelligent Service Robotics V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. De Pieri, D. G. Caldwell. A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain. IEEE International Conference on Robotics and Automation - ICRA D. W. Bertol, V. Barasuol, N. A. Martins, E. R. De Pieri, Stiffness control of robot manipulators in the operational space using fuzzy mapping of dynamic functions. Control and Cybernetics, v. 42, p C. Semini, V. Barasuol, T. Boaventura, M. Frigerio and J. Buchli. Is Active Impedance the Key to a Breakthrough for Legged Robots?. International Symposium of Robotics Research - ISRR I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini, D. G. Caldwell, Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ). IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS. victor.barasuol@iit.it 4/6
5 2013 M Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini and D. G. Caldwell. Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion, Int. Conf. on Climbing and Walking Robots - CLAWAR H. Khan, C. Semini, V. Barasuol and D. G. Caldwell. "Actuator sizing for highlydynamic quadruped robots based on squat jumps and running trots. Int. Conf. on Climbing and Walking Robots - CLAWAR S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini and D. G. Caldwell. Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain. IEEE International Conference on Technologies for Practical Robot Applications - TePRA D. W. Bertol, V. Barasuol, E. R. de Pieri and N. A. Martins, Fuzzy Mapping of Dynamic Functions to Control Robot Manipulators in the Operational Space. ABCM Symposium Series in Mechatronics F. B. C. Cruz, V. Barasuol and E. R. de Pieri, Development of a Force Model Representative of a Milling Process. ABCM Symposium Series in Mechatronics, vol V. Barasuol, V. J. De Negri and E. R. De Pieri, WCPG: A Central Pattern Generator for Legged Robots Based on Workspace Intensions. ASME Dynamic Systems and Control Conference - DSCC V. Barasuol, E. R. De Pieri and F. B. C. Cruz, An Impedance Control Approach for Machining Tasks Using Elastic Joint Manipulators. ABCM Symposium Series in Mechatronics, vol V. Barasuol, F. B. C. Cruz and E. R. De Pieri, A Compliance Control Approach For Machining Tasks Using Elastic Joint Manipulators. 11th Pan-American Congress of Applied Mechanics - PACAM H. Simas, V. Barasuol, R. Kinceler, E. P. Raposo, D. Martins, E. R. De Pieri, V. J. De Negri, M. R. Stemmer and E. B. Castelan Neto. Kinematic Conception of a Hydraulic Robot Applied to Power Line Insulators Maintenance. ABCM Symposium Series in Mechatronics, vol V.Barasuol and B. Ordoñez. Projeto e implementação de um controlador nebuloso para um atuador hidráulico: resultados experimentais. Congresso Brasileiro de Sistemas Fuzzy, 2010, Sorocaba. Anais CBSF 2010, E. P. Raposo, M. R. Stemmer, V. J. De Negri, R. Kinceler, D. Martins, H. Simas, E. R. De Pieri and V. Barasuol. Um Robô de Serviço Aplicado à Limpeza de Isoladores Elétricos de Sistemas de Distribuição de Energia. IX Simpósio Brasileiro de Automação Inteligente - SBAI, 2009, Brasíŋlia V. Barasuol, E. R. De Pieri, N. A. Martins. Regulação em robôs com juntas flexíŋveis via estratégia backstepping: uma abordagem via alocação de pólos. Congresso Brasileiro de AutomÃątica, 2008, Juiz de Fora. XVII Congresso Brasileiro de AutomÃątica, Conferences, Events and Invited Talks 2016 Technical University of Munich - TUM, Munich/Germany. Invited talk. victor.barasuol@iit.it 5/6
6 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm/Sweden. Exhibitor IEEE International Conference on Robotics and Automation (ICRA), Seatle/USA. Invited talk IEEE International Conference on Robotics and Automation (ICRA), Seatle/USA. Exhibitor Dynamic Walking, Zurich/Switzerland. Oral presentation TPA - Biennial International Exhibition for Motion Systems, Fluid Power and Automation, Milan/Italy. Exhibitor ERF - European Robotics Forum, Rovereto/Italy. Exhibitor IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe/Germany. Oral presentation Dynamic Systems and Control Conference - DSCC, Arlington/EUA. Oral presentation Brazilian Congress on Fuzzy Systems - CBSF, Sorocaba/Brazil. Oral presentation Workshop on Mechanisms and Robots Design - WMRD Brazil, Florianópolis/Brazil Brazilian Congress on Mechanical Engineering - COBEM, Gramado/Brazil. Oral presentation Brazilian Congress on Automation - CBA, Juiz de Fora/Brazil. Oral presentation Brazilian Symposium on Intelligent Automation, Florianópolis/Brazil. Organizer. victor.barasuol@iit.it 6/6
arxiv: v1 [cs.ro] 22 Apr 2016
![arxiv: v1 [cs.ro] 22 Apr 2016](/thumbs/86/93666401.jpg "arxiv: v1 [cs.ro] 22 Apr 2016")
Validation of computer simulations of the HyQ robot arxiv:164.6818v1 [cs.ro] 22 Apr 216 Dynamic Legged Systems lab Technical Report 1 DLS-TR-1 Version 1. Marco Frigerio, Victor Barasuol, Michele Focchi
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