This section collects some of the work I did for my Universities studies, especially when exams required completing projects. They are reported in reverse order, from latest to oldest.
As mentioned in the home page, I hold a BSc in Computer & Systems Engineering and I’m currently studying for a Msc in Control Engineering, with a focus on robotics.
MSc
Neural Lyapunov Control (Intelligent & Hybrid Control / January 2026)
Using Neural Networks to learn controllers for dynamical systems and Lyapunov functions that prove the stability of the closed loop system.
Motion retargeting methods comparison (Medical Robotics / December 2025)
In this project we implemented and compared different approaches to grasping tasks in a virtual reality environment, using the WeArt TouchDiver G1 haptic interface and the Meta Quest 3 VR headset. In particular, we replaced the TouchDiver animation in the WeArt SDK by modeling each finger in the hand as a planar 3R robot manipulator and implemented a grasping system based on physics interactions from scratch for the Meta SDK.
Model-based (sensorless) collision detection (Robotics 2 / September 2025)
In this project we detect, isolate and identify collisions on a robot manipulator only using proprioceptive sensors. In particular, we leverage the concept of generalized momentum, which makes the task computationally efficient and suitable for real-time implementation.
Report Addendum Presentation Materials
BSc
Control of a mobile robot with saturated inputs (Bachelor thesis / 18th October 2024)
This is my bachelor thesis, written in Italian. I explored trajectory tracking using a mobile robot (unicycle/differential drive platform) via feedback linearization, with an additional correction to the control action provided by a MPC (Model Predictive Controller), to avoid joint saturation. I explore different cost functions and their impact on the actual trajectory traced by the robot with respect to the reference.
Two-wheel self-balancing robot (Automation / January 2024)
This report is written in Italian, but I’ve written about the project in english in another post on this blog: a two-sheel self-balancing robot
Report Presentazione Materials