M.Sc. Davide Calzolari

Phone: +49 8153 28 3676

Fax: +49 8153 28 1134

Room: 03.09.037

E-Mail: davide.calzolari(at)tum.de

Research

Performance Analysis

Nonlinear Mechanical Systems, Space Robotics
Passivity-based Control

System and Control Design for Robust and Hyper-Efficient Robots

Nonlinear Modes, Excitation of Nonlinear Oscillations
Applications to Robotic Locomotion

Formal Analysis

Singularity Analysis
Application of Formal Methods in Robotics

Journal Publications

D. Calzolari, C. D. Santina, A. M. Giordano, A. Schmidt and A. Albu-Schäffer, "Embodying Quasi-Passive Modal Trotting and Pronking in a Sagittal Elastic Quadruped," in IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 2285-2292, April 2023.

A. M. Giordano, D. Calzolari, M. De Stefano, H. Mishra, C. Ott and A. Albu-Schäffer, "Compliant Floating-Base Control of Space Robots," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7485-7492, Oct. 2021.

C. D. Santina, D. Calzolari, A. M. Giordano and A. Albu-Schäffer, "Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2783-2790, April 2021.

D. Calzolari, C. D. Santina, and A. Albu-Schäffer, "PD-like Regulation of Mechanical Systems with Prescribed Bounds of Exponential Stability: the Point-to-Point Case," in IEEE Control Systems Letters, 22 December 2020.

D. Calzolari, C. D. Santina, and A. Albu-Schäffer, "Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia," in IEEE Control Systems Letters, vol. 5, no. 2, pp. 445-450, April 2021.

D. Calzolari, A. M. Giordano, and A. Albu-Schäffer, "Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic," in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1231-1238, April 2020.

A. M. Giordano, D. Calzolari, and A. Albu-Schäffer, "Workspace Fixation for Free-Floating Space Robot Operations," 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 889-896.

A. Schmidt, M. Forano, A. Sachtler, D. Calzolari, D. Franklin, A. Albu-Schäffer, "Finding the rhythm: Humans exploit nonlinear intrinsic dynamics of compliant systems in periodic interaction tasks," in bioRxiv, Cold Spring Harbor Laboratory, September 2023.

Conference Publications

A. Sachtler, D. Calzolari, M. Raff, A. Schmidt, Y. P. Wotte, C. D. Santina, C. David Remy, A. Albu-Schäffer, "Swing-Up of a Weakly Actuated Double Pendulum Via Nonlinear Normal Modes," in European Control Conference, Stockholm, Sweden, 2024.

P. Pustina, D. Calzolari, A. Albu-Schäffer, A. De Luca, C. D. Santina, "Nonlinear Modes As a Tool for Comparing the Mathematical Structure of Dynamic Models of Soft Robots" in 7th IEEE-RAS International Conference on Soft Robotics, San Diego, CA, USA, 2024.

A. M. Giordano, S. Stivala, D. Calzolari, and A. Albu-Schäffer, "Energy and angular momentum control of robot running," in 31st Mediterranean Conference on Control and Automation (MED), Limassol, Cyprus, 2023.

D. Calzolari, C. Della Santina, A. M. Giordano, and A. Albu-Schäffer, "Single-Leg Forward Hopping via Nonlinear Modes" in 2022 American Control Conference, Accepted.

D. Calzolari, R. Lampariello, and A. M. Giordano, "Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning," in Robotics: Science and Systems, July 2020.

D. Calzolari, B. Schürmann, and M. Althoff, "Comparison of trajectory tracking controllers for autonomous vehicles," 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), Yokohama, 2017, pp. 1-8.

A. Schmidt, F. Pasic, D. Calzolari, A. Sachtler, T. Gumpert, M. Keppler, A. Albu-Schäffer, "Comparison of control strategies to excite intrinsic oscillations in a SEA-driven robotic joint", in European Control Conference, Stockholm, Sweden, 2024.

Additional Talks and Poster Presentations at International Conferences

D. Calzolari, "Planning and Control via Natural Motion", Talk at TU Delft, The Netherlands, 27 November 2023.

D. Calzolari, C. D. Santina, A. Albu-Schaffer, "Embodying Nonlinear Modes in a Soft Quadruped" at Dynamic Walking 2023, Bayern, Germany, May 2023.

D. Calzolari, C. D. Santina, A. Albu-Schaffer, "Nonlinear Modes for Efficient Robotic Locomotion" at Dynamic Walking 2021, Episode 2: (Neural)Control, June 11.