Paolo Salaris

Contact

Email : paolo.salaris@inria.fr
Address : Inria -- Sophia Antipolis
2004 Route des Lucioles BP93
06902 Sophia Antipolis cedex - France
Tel : +33 04 92 38 50 80
Assistant : +33 04 92 38 77 48 (Christine Riehl)

Background and Position

Paolo Salaris was born in Siena (Tuscany, Italy) in 1979. He received his Degree in Electrical Engineering from the University of Pisa in 2007. He got the Doctoral degree in Robotics, Automation and Bioengineering at the Research Center "E.Piaggio" of the University of Pisa in June 2011. He has been Visiting Scholar at Beckman Institute for Advanced Science and Technology, University of Illinois, Urbana-Champaign (US-IL) from March to October 2009.

He has been a PostDoc at the Research Center "E.Piaggio" from June 2011 to January 2014 and at LAAS-CNRS in Toulouse within the Gepetto Team from February 2014 to July 2015. He spent few months at College de France, Paris, in 2013.

Since October 2015 he is Inria researcher (CR2) in the Lagadic Team, Sophia Antipolis, France.

Research areas

His research interests are

optimal control and path planning for robot with limited sensory systems
visual servoing for humanoid robots
optimal design of hand pose reconstruction systems
observability analysis
optimal control of Variable Stiffness Actuators and compliant robots
map building of indoor and outdoor complex environments

Selected Publications

See here for a complete list (with postscript or pdf files if available) or on GoogleScholar

Visual servoing for Nonholonomic vehicles

P. Salaris, D. Fontanelli, L. Pallottino and A. Bicchi. Shortest Paths for a Robot With Nonholonomic and Field-of-View Constraints.
IEEE Transactions on Robotics, vol.26, no.2, pp.269-281, 2010.
P. Salaris, L. Pallottino and A. Bicchi. Shortest paths for finned, winged, legged, and wheeled vehicles with side-looking sensors.
The International Journal of Robotics Research (IJRR) , vol.31, no.8, pp.977-1017, 2012.
P. Salaris, A. Cristofaro, L. Pallottino and A. Bicchi. Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View.
IEEE Transactions on Automatic Control, vol.60, no.5, pp.1204-1218, 2015.
P. Salaris, A. Cristofaro, and L. Pallottino. Epsilon-Optimal Synthesis for Vehicles With Vertically Bounded Field-Of-View.
IEEE Transactions on Robotics, vol.31, no.6, pp.1404-1418, 2015.
P. Salaris, L. Pallottino, S. Hutchinson and A. Bicchi. From optimal planning to visual servoing with limited FOV.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2015.
P. Salaris, C. Vassallo, P. Soueres and J.-P. Laumond. The geometry of confocal curves for passing through a door.
IEEE Transactions on Robotics, vol.31, no.5, pp.1180-1193, 2015.

Optimal control and design of Soft Actuation for compliant robots

M. Garabini, A. Passaglia, F.A.W. Belo, P. Salaris and A. Bicchi. Optimality principles in variable stiffness control: The VSA hammer.
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011.
A. Velasco, G Gasparri, M. Garabini, L. Malagia, P. Salaris and A. Bicchi. Soft-actuators in cyclic motion: Analytical optimization of stiffness and pre-load.
13th IEEE-RAS International Conference on Humanoid Robots (Humanoids) , 2013.

Observability analisys and optimal estimation methods

F.A.W. Belo, P. Salaris, D. Fontanelli and A. Bicchi. A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities.
International Journal of Advanced Robotic Systems , vol.10, no.197, 2013.
M. Bianchi, P. Salaris and A. Bicchi. Synergy-based hand pose sensing: Reconstruction enhancement.
The International Journal of Robotics Research (IJRR) , vol.32, no.4, pp.396-406, 2013.
M. Bianchi, P. Salaris and A. Bicchi. Synergy-based hand pose sensing: Optimal glove design.
The International Journal of Robotics Research (IJRR) , vol.32, no.4, pp.407-424, 2013.