Modelling of bipedal locomotion for the development of a compliant pelvic interface between human and a balance assistant robot

摘要

the greatest merit goes to my family which includes Luca and Daniele -two childhood friends who are like brothers to me. I could not have the opportunities and the strength to push forward and face all adversities without my parents who built the environment that I call home, which is always open to everyone. They exposed me to the world at a young age allowing me to develop an independent open mind and leading an exemplary life made of love, empathy and sharing. I express my apology to my only brother for not being there physically to see him growing in the amazing adult he is becoming. I also express my gratitude to my 'six siblings'-my elder cousins -with who I grew up with. Despite their highs and lows in life, they gifted me with unconditional love and eight amazing nephews. No less important are my grandparents, aunts and uncles who made it possible to build such fantastic environment around us.