matteosodano's repositories
Faster_Inverse_Dynamics_and_Coefficients_Identification
University group project concerning the comparison between the classical and the modified Denavit-Hartenberg convention in Newton-Euler algorithm, and the design of persistently exciting trajectories for the dynamic coefficients identification for the KUKA LWR IV+.
Singularities_UR10
Project concerning the design of trajectories approaching (boundary or internal) singularities, in order to compare the effects of the kinematic controllers based on pseudo-inversion and on Damped Least-Squares.
Optimal_Redundancy_Control_of_Robot_Manipulators
University group project concerning the analysis of the redundancy for a planar 3R robot manipulator.
Residuals_and_RLS
University group project concerning the sensorless estimation of the contact forces between a needle mounted on the end-effector of a robot manipulator and a penetrated tissue, and subsequent prediction of layer ruptures using Recursive Least Squares algorithm.
Control_of_an_Autonomous_Bicycle
University group project concerning the modeling and control of a bicycle.
MCLNN_AudioClassification
University group project concerning the design of a Masked Conditional Neural Network for Audio Classification.
SemSeg_Network
Pytorch implementation of Semantic Segmentation for Single class from scratch
bdd100k-models
Model Zoo of BDD100K Dataset
CNN_for_Image_Classification
University individual project concerning the design of a Convolutional Neural Network and the use of Transfer Learning for Image Classification.
ConvNeXt
Code release for ConvNeXt model
CS231n_assignments
Assignments of the Stanford Course CS231n,
Gap-crossing_task_with_CENTAURO_robot
Master Thesis concerning the planning of a gap-crossing task with the CENTAURO robot through sampling-based methods and nonlinear optimization. Then, whole-body motion are generated with a hierarchical inverse kinematics scheme in order to make the robot execute the plan.