Team Delta's objective is to craft a robust locomotion architecture for ergoCub, our humanoid robot, facilitating safe interaction with both humans and the environment. This sophisticated framework seamlessly integrates nonlinear optimal control algorithms with machine learning components to deliver precise torque commands, ensuring smooth and reliable movement. Moreover, the team, dedicated to elevating the robot's autonomy levels, enabling it to navigate complex environments and engage in seamless collaboration with humans.

Central to this endeavor is the concept of 'physical intelligence,' wherein the robot not only performs physical tasks such as lifting objects collaboratively to mitigate biomechanical risks but also possesses cognitive capabilities. These include the ability to perceive its surroundings, recognize objects, estimate their attributes, and even discern human intentions to facilitate efficient cooperation.

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The ∂P team, Parallel Differentiable Simulations, is a dedicated group focused on advancing the theory and application of hardware-accelerated differentiable simulations. Leveraging their expertise in differentiable programming and scientific machine learning, the team is committed to pushing the boundaries of robot learning by developing libraries, frameworks, and pipelines that exploit the unique capabilities of these simulations.

Their work includes the development of JaxSim, a differentiable physics engine, and multibody dynamics library, as well as high-level interfaces to enhance its application in robot learning. By combining model-based and learning-based components, the team aims to create scalable and efficient solutions for gradient-based optimization and reinforcement learning, contributing to the cutting edge of robotics research and development.

The iFeel team focuses on the development of wearable technologies within the research of our ergoCub project.

The team focus is both on the hardware  and software development of this technology, aimed at monitoring human whole-body quantities and predicting biomechanical risks in several workplaces. Additionally, they oversee the maintenance and optimization of all operator-side hardware within our avatar system.

iFeel wearables

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Interest in improving robots' adaptability across tasks and scenarios is rising, and advanced platforms with multi-modal locomotion capabilities are being developed for this purpose. In this context, Aerial Humanoid Robotics is a research field focused on combining terrestrial and aerial locomotion in humanoid robots. 

The iRonCub team contributes to this area by designing a jet-powered humanoid robot, iRonCub, covering all stages from mechanical design to experimentation. Their work encompasses mechanical design, jet engines modeling, QP-based control algorithms development, trajectory planning using MPC and RL, pose estimation with Kalman Filtering, aerodynamics modeling with validation in a wind tunnel, culminating in real prototype takeoff experiments.

iRonCub

Team X is dedicated to showcasing the capabilities of our robots through captivating and innovative demos. As videos of humanoid robots performing complex tasks gain popularity, Team X focuses on creating compelling demonstrations that highlight the advancements and potential of our robotic technology.

These demos are not only crucial for public engagement but also serve as a powerful tool for attracting potential investors by illustrating the practical and versatile applications of our robots. By integrating advanced research with innovative demo creation, Team X not only highlights the current state of robotic technology but also paves the way for future advancements and applications.

The human team deals with the human holistic biomechanics, from the kinematics to the dynamics of the human body.

The work focusses on the development of biomechanics computational algorithms, specifically on the optimization of human models and the development of human musculoskeletal models  to be used in the analysis of data obtained trough the iFeel technology. Furthermore, the team has been tasked with compiling these data in order to assess the biomechanical risk during certain workplace activities.

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The Monte Porzio team is part of the ergoCub project, but operates in the joint lab INAIL-IIT located at the INAIL research center in Monte Porzio Catone (Roma).  Their focus embeds components from the Delta Team, Human Team and iFeel Team.

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