Papers
12
Total Citations
583
H-Index
8
About
Gabriele Buondonno is a leading researcher in robot dynamics and control, whose work bridges foundational algorithms and practical human-robot interaction. His most impactful contribution is the **Pinocchio C++ library** (344 citations), an open-source framework that provides fast, flexible implementations of rigid body dynamics and their analytical derivatives—now a standard tool in robotics research and industry. Buondonno has also made seminal advances in **compliant and elastic-joint robots**, developing recursive Newton-Euler algorithms for variable stiffness actuators (VSA) and elastic joints that achieve linear computational complexity, enabling efficient inverse dynamics and feedback linearization for complex manipulators. His work on **protocentric aerial manipulators** introduced differential flatness-based control for multi-arm flying robots with mixed rigid/elastic joints, while his research on **force estimation** combines real and virtual sensors to measure external wrenches and contact positions, enhancing safety in physical interaction. Buondonno has further contributed to whole-body control benchmarking on the humanoid robot TALOS, comparing position and torque schemes for legged locomotion. With over 500 citations, his open-source tools and theoretical frameworks have become essential references for researchers working on robot control, dynamics, and human-robot collaboration.
Research Focus
Key Achievements
Top Papers
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- 7Actuator design of compliant walkers via optimal control11 citations · 2017
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