CV

Project and Controls Lead

RAI Institute

Leading the RAI Institute's robotics research activities in Zurich.

• Developed learned policies for humanoid and quadrupedal robots.
• Coordinated research activities and controls team for field robotics in Zurich.

Senior Staff Research Scientist and Technical Lead - Atlas, Spot

Boston Dynamics

• Led the Reinforcement Learning team to develop learned policies for the Atlas and Spot robots.
• Developed training and inference framework to deploy locomotion and manipulation policies on hardware.
• Delivered company-wide technical and progress updates.

Senior Staff Robotics Controls Engineer - Stretch

Boston Dynamics

• Led regular meetings for the Stretch motion planning team.
• Held technical presentations focused on controls, software programming, and research.
• Delivered technical reports and documentation for the Stretch motion planning and controls framework.

Robotics Controls Engineer - Stretch

Boston Dynamics

• Led design reviews and outlined the implementation plan for motion planning and control algorithms for Stretch, a mobile manipulator for logistics applications.
• Developed controls and motion planning framework for multiple iterations of Stretch robots, from first prototype to product versions, allowing Stretch to successfully manipulate more than 1M customer boxes.
• Played a key role in mentoring colleagues, providing guidance in C++ programming, mathematics, numerical optimization, and core robotics concepts.

Postdoctoral Researcher

ETH Zurich

Robotics and Control

• Coordinated locomotion and manipulation for walking robots equipped with robotic manipulators.

PhD in Mechanical Engineering - Robotics and Control

ETH Zurich

Optimization-based planning and control for multi-limbed walking robots

• Model-based whole-body control algorithms coupled with hierarchical optimization.
• Fast optimization-based motion planning for quadrupedal robots to execute a large variety of highly dynamic and robust gaits.

Bachelor Degree in Automation Engineering

Università degli Studi di Napoli Federico II

Automation Engineering

• Control of an industrial robotic arm using a smartphone.
• Design and implementation of an app to access a smartphone's sensors to send reference signals to an industrial robotic arm.

Master Degree in Automation Engineering

Università degli Studi di Napoli Federico II

Automation Engineering

• Modeling, planning and control of a 3D printed robotic arm mounted on a UAV for aerial manipulation.
• Design of a communication protocol to operate a 3D printed robotic arm.

JTCF Novel Technology Paper Award for Amusement Culture

Best Paper Award

"Real-Time Dance Generation to Music for a Legged Robot", Thomas Bi, Péter Fankhauser, C. Dario Bellicoso, Marco Hutter. Madrid, Spain.

IEEE Robotics and Automation Magazine Best Paper Award 2017

Best Paper Award

"Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot", Christian Gehring, Stelian Coros, Marco Hutter, C. Dario Bellicoso, Huub Heijnen, Remo Diethelm, Michael Bloesch, Péter Fankhauser, Jemin Hwangbo, Mark Hoepflinger and Roland Siegwart. Singapore.

IROS Best Paper Award

Best Paper Award

"ANYmal - a Highly Mobile and Dynamic Quadrupedal Robot", Marco Hutter, Christian Gehring, Dominic Jud, Andreas Lauber, Carmine Dario Bellicoso, Vassilios Tsounis, Jemin Hwangbo, Karen Bodie, Péter Fankhauser, Michael Bloesch, Remo Diethelm, Samuel Bachmann, Amir Melzer, Mark Hoepflinger. Daejeon, South Korea.

ExPloy

EXport and dePLOY Reinforcement Learning policies.

• Reinforcement Learning policy deployment framework

Kindr

Kinematics and Dynamics for Robotics. A C++ library which provides interfaces and implementations of kinematic and dynamic quantities for robotics.

• C++ robotics library
• Kinematic and dynamic quantities

DAMA ROB

DArio and MArco's ROBotics toolbox, a robotics toolbox written for Matlab/Simulink which provides the equations of motion in symbolic form for a generic open chain mechanical system. The toolbox also generates a VR model for visualization.

• Matlab/Simulink robotics toolbox
• Symbolic equations of motion

Postdoctoral Researcher

Robotic Systems Lab, ETH Zurich

Supervisor and coordinator of research goals for PhD students on robotic legged locomotion and manipulation.

Team Leader

ARCHE

Team leader for the ARCHE event for Search and Rescue robotics. Demonstration of the use of the quadrupedal robot ANYmal for a search and rescue mission in a real-world environment. Wangen an der Aare, Switzerland.

Team Leader

ERL Emergency Robotics

Team leader for the ERL Emergency Robotics Challenge. Coordination of a team of robotics engineers and researchers to bring the quadrupedal robot ANYmal in a search & rescue scenario. Piombino, Italy.

PhD Researcher

Robotic Systems Lab, ETH Zurich

Lab coordinator of research goals. Co-lecturer for the Robot Dynamics course at ETH Zurich. Supervisor and co-supervisor for several Master Thesis and Semester Projects. Lead researcher representing the Robotic Systems Lab for the National Centre of Competence in Research (NCCR).

Software and Robotics Engineer

ARGOS Challenge

Software and robotics engineer for team LIO at the ARGOS Challenge. Implementation of a motion planner for a static walking gait for the quadrupedal robots StarlETH and ANYmal. Pau, France.

Research Assistant

PRISMA Lab, Università degli Studi di Napoli Federico II

Research assistant for the ARCAS EU Project, coordinated by Prof. Bruno Siciliano. Lead software developer of a UAV equipped with a robotic arm.