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matteosodano's Projects

cnn_for_image_classification icon cnn_for_image_classification

University individual project concerning the design of a Convolutional Neural Network and the use of Transfer Learning for Image Classification.

faster_inverse_dynamics_and_coefficients_identification icon faster_inverse_dynamics_and_coefficients_identification

University group project concerning the comparison between the classical and the modified Denavit-Hartenberg convention in Newton-Euler algorithm, and the design of persistently exciting trajectories for the dynamic coefficients identification for the KUKA LWR IV+.

gap-crossing_task_with_centauro_robot icon gap-crossing_task_with_centauro_robot

Master Thesis concerning the planning of a gap-crossing task with the CENTAURO robot through sampling-based methods and nonlinear optimization. Then, whole-body motion are generated with a hierarchical inverse kinematics scheme in order to make the robot execute the plan.

mclnn_audioclassification icon mclnn_audioclassification

University group project concerning the design of a Masked Conditional Neural Network for Audio Classification.

residuals_and_rls icon residuals_and_rls

University group project concerning the sensorless estimation of the contact forces between a needle mounted on the end-effector of a robot manipulator and a penetrated tissue, and subsequent prediction of layer ruptures using Recursive Least Squares algorithm.

semseg_network icon semseg_network

Pytorch implementation of Semantic Segmentation for Single class from scratch

singularities_ur10 icon singularities_ur10

Project concerning the design of trajectories approaching (boundary or internal) singularities, in order to compare the effects of the kinematic controllers based on pseudo-inversion and on Damped Least-Squares.

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