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About

Michele Lacagnina is a robotics researcher whose work bridges theoretical kinematics and practical robotic design for extreme environments. His research centers on parallel robots, mobile robotics, and the critical challenge of manufacturing imperfections in precision mechanisms. Lacagnina's most influential contribution is the design and control of "Wheeleg," a pioneering hybrid wheeled-legged robot (81 citations), which demonstrated how combining locomotion modes could enhance mobility on rough terrain. He has also made significant theoretical advances in spherical parallel robots, notably developing a dynamic stiffness model (36 citations) and providing closed-form inverse kinematic solutions for the Agile Eye that account for real-world manufacturing errors in revolute joints (20 citations). This latter work is particularly important because it addresses how unavoidable production tolerances affect kinematic accuracy—a practical problem often overlooked in theoretical robotics. Earlier in his career, Lacagnina contributed to volcanic exploration robotics, modeling the multibody dynamics of the M6 six-wheeled robot (10 citations) designed for hazardous environments at the University of Catania. His research consistently demonstrates a commitment to making robots both theoretically sound and practically deployable in challenging real-world conditions.