Mattia Risiglione
Papers
4
Total Citations
47
H-Index
4
About
Mattia Risiglione is a roboticist whose research focuses on the control and autonomy of legged and mobile manipulators—robots that combine agile legs with dexterous arms. His core contributions lie in developing advanced control architectures that ensure stability, compliance, and robust performance during complex tasks. Notably, his work on passivity-based control for haptic teleoperation (15 citations) addresses the critical challenge of destabilizing time-delays in communication links, enabling safe remote operation of multi-limbed robots. He has also pioneered a kinematically-decoupled impedance control pipeline (14 citations) that integrates image-based visual servoing for fast, reliable object grasping on quadruped manipulators. Further, his whole-body controller (13 citations) renders Cartesian impedances using a simplified template, allowing these robots to compliantly interact with external forces during manipulation or physical human-robot interaction. Most recently, Risiglione introduced R-LGP (5 citations), a reachability-guided logic-geometric programming framework that optimally solves hybrid task and motion planning problems on mobile manipulators. Through these works, he is advancing the frontier of robust, autonomous, and interactive legged manipulation.
Research Focus
Key Achievements
Top Papers
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