A quick and uncomplete summary of what I did in 16 years

Humanoids!

• Founded the R&D team that became Pal Robotics (employe #1)

• Tech Lead / CEO.

• Software for simulation and real-time control.

• Low level interface.

• Lead of the mechanical team

Model-Driven Development

Delta robot for metrology

• 5g acceleration!
• 50 um precision!
• Hard real-time (10 KHz loop)!

I was responsible for the path planning and control

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Basic "Middleware"

More humanoids!

Darpa Robotic Challenge

• Joined the IHMC team (second place at the DRC)

• Developed from scratch the full-body control using Hierarchical "Stack of Tasks"

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Eurecat Technology Center

• Grape: robot for vineyard inspection
• MAIC: mobile manipulator for the industry.
• BehaviorTree.CPP (initially a RobMoSys project)

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Blue Ocean Robotics

"Robotic Architect":

• Involved in all the projects of the company.
• Main focus: perception and navigation.
• Responsible for the harmonization of the platform.
• Implementation of new modules or improvement of old ones.
• Coordinating the Visual-SLAM team

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Things I have done

• Architectural design of robotic hardware.
• Components selection.
• Low-level interfaces with hardware under real-time constraints.
• Control or robotic arms or legs (kinematic, dynamic, path planning).
• Autonomous Navigation (indoor and outdoor).
• C++ optimizations and refactoring.
• Some Perception....
• High-level task planning.
• Project Management.

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Open Source contributions for fun and profit

• PlotJuggler
• BehaviorTree.CPP + Groot

• Velodyne ROS driver
• Intel RealSense ROS driver
• Robosense ROS driver
• MapViz
• LOAM Velodyne
• Lego-LOAM
• PCL
• iris_lama