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Dr. Diego Pardo

HPZ G 36
John-von-Neumann-Weg, 9
8093 Zürich

depardo (at) ethz (dot) ch
Phone: +41 44 63 387 09

https://www.linkedin.com/in/diego-pardo-8aaa2a29



My research interests are centered in the analysis and synthesis of challenging motor skills in complex robots. I am especially interested in robotic behaviors where fast motions and body coordination are required (e.g., robot locomotion and manipulation). My goal is to develop control strategies to allow robots to move as natural and efficiently as animals do.



Journals

A. Winkler, F. Farshidian, D. Pardo, M. Neunert, J. Buchli (2017) Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints. IEEE Robotics and Automation Letters (RA-L) , 2(4),pp.2201-2208.

D. Pardo, L. Möller, M. Neunert, A. W. Winkler and J. Buchli. (2016) Evaluating direct transcription and nonlinear optimization methods for robot motion planning. IEEE Robotics & Automation Letters (RA-L), 1(2), pp. 946-953.

L. Fichera, D. Pardo, P. Illiano, J. Ortiz, D. Caldwell and L. Mattos. (2015) On-line Estimation of Laser Incision Depth for Transoral Microsurgery: Approach and Preliminary Evaluation. - International Journal of Medical Robotics and Computer Assisted Surgery - Wiley.

D. Pardo, L. Fichera, D. Caldwell, L. Mattos (2014) Learning temperature dynamics on agar-based phantom tissue surface during single point CO2 laser exposure. Neural Processing Letters. Springer

A. Andrés, D. Pardo, M. Diaz, and C. Angulo (2014) Introducing new instruments for Human-Robot Interaction assessment based on observational methods. Journal of Ambient Intelligence and Smart Environments. IOS Press

A. Samà, C. Angulo, D. Pardo, A. Català, and J. Cabestany (2011) Analyzing Human Gait and Posture by Combining Feature Selection and Kernel Methods. Neurocomputing, vol. 74, pp. 2665-2674, Elsevier.

D. Pardo, C. Angulo, S. del Moral, and A. Català (2009) Emerging Motor Behaviors: Learning Joint Coordination in Articulated Mobile Robots. Neurocomputing, vol. 72, issues 16-18, October 2009, pp. 3624-3630, Elsevier.

C: Angulo, R. Téllez, and D. Pardo (2009) Internal Representation of the Environment in Cognitive Robotics. International Journal of Robotics & Automation, vol. 24, issue 3, pp. 214-221 ACTA Press.


Selected Conferences

D. Pardo, M. Neunert, A. Winkler, J. Buchli. “Hybrid direct collocation and control in the constraint-consistent subspace for dynamic legged robot legged locomotion”, RSS Science and Systems Conference (RSS-2017).

A. Winkler, F. Farshidian, M. Neunert, D. Pardo, J. Buchli. “Online Walking Motion and Contact Optimization for Quadruped Robots”, IEEE International Conference on Robotics and Automation (ICRA-2017).

M. Neunert, M. Giftthaler, D. Pardo, J. Buchli. “An Open-Source C++ Library for Robotics and Optimal Control”, Last Breaking Results poster session, (ICRA-2017).

F. Farshidian, M. Kamgarpour, D. Pardo, J. Buchli. “Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems”, World Congress of the International Federation of Automatic Control (IFAC-2017).

C. Sferrazza, D. Pardo, J. Buchli. “Numerical Search for Local (Partial) Differential Flatness”. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2016).

C. Voemel, D. Pardo, J. Buchli. “On reachability sets for optimal feedback controllers: Monitoring the approach of a region of attraction” . IEEE International Conference on Robotics and Automation (ICRA-2016).

L. Fichera, D. Pardo, P. Illiano, D. Caldwell, L. Mattos. Feed Forward Incision Control for Laser Microsurgery of Soft Tissue (ICRA-2015). IEEE International Conference on Robotics and Automation (Nominated for Best paper award).

D. Pardo, L. Fichera, D. Caldwell and L. Mattos. Thermal supervision during robotic laser microsurgery (BioRob-2014). IEEE International Conference on Biomedical Robotics and Biomechatronics. Sao Paulo, Brazil.

L. Fichera, D. Pardo and L. Mattos. Automatic Detection of Carbonized Tissue for Transoral Laser Microsurgery (BioRob-2014) IEEE International Conference on Biomedical Robotics and Biomechatronics. Workshop on Robotic Microsurgery and Image-Guided Surgical Interventions. Sao Paulo, Brazil.

L. Fichera, D. Pardo and L. Mattos. On-line estimation of ablation depth during CO2-laser exposure (IROS-2013). Workshop on Cognitive Surgical Robotics: From virtual fixtures to advanced cooperative control. Tokyo, Japan.

A. Colomé, D. Pardo, G. Alenyà and C. Torras. External force estimation during compliant robot manipulation (ICRA-2013), Proceedings of the IEEE International Conference on Robotics and Automation. Karlsruhe, Germany.

L. Fichera, D. Pardo, L. Mattos. Supervisory system for robot assisted laser phono-microsurgery (EMBC-2013), IEEE Engineering in Medicine and Biology Society. Osaka, Japan.

L. Fichera, D. Pardo, L. Mattos. Modeling Tissue Temperature Dynamics during Laser Exposure (IWANN-2013), International Workconference in Artificial Neural Networks. Tenerife, Spain.

L.Fichera, D. Pardo, L.Mattos. Virtual Supervision for a Virtual Scalpel (RGC2013), Russian-German Conference on Biomedical Engineering. Hannover, Germany.

L. Fichera, D. Pardo, L. Mattos. Artificial cognitive supervision in robot-assisted laser surgery (CRAS2013). Workshop on New Technologies for Computer/Robot Assisted Surgery. Verona, Italy.

A. Colomé, D. Pardo, G. Alenyà and C. Torras. External force estimation for textile grasp detection (IROS-2012), Workshop Beyond Robot Grasping: Modern Approaches for Learning Dynamic Manipulation. Vilamoura, Portugal.

D. Pardo, L. Rozo, G. Alenyà and C. Torras. Dynamically consistent probabilistic model for robot motion learning (IROS-2012), Workshop on Learning and Interaction in Haptic Robots. Algarve, Portugal.

D. Pardo, O. Franco, J. Saez-Pons, A. Andrés, and C. Angulo, Human - humanoid robot interaction: The 20q game (UCAmI-2012) in Ubiquitous Computing and Ambient Intelligence Lecture Notes in Computer Science vol 7656.

Herrlich, S., Spieth, S., Nouna, R., Zengerle, R., Giannola, L., Pardo-Ayala, D., Federico, E., Garino, P. Ambulatory Treatment and Telemonitoring of Patients with Parkinson’s Disease (AAL-2011), Ambient Assisted Living Forum. Lecce, Italy.

M. Díaz, N. Nuno, J. Saez-Pons, D. Pardo, and C. Angulo. Building up child-robot relationship for therapeutic purposes: From initial attraction towards long-term social engagement (FG-2011), in Proceedings of the IEEE International Conference on Automatic Face and Gesture Recognition, Lille, France.

A. Sama, D. Pardo, Joan Cabestany and Alejandro Rodriguez-Molinero. Time series analysis of inertial-body signals for the extraction of dynamic properties from human gait (IJCNN-2010), International Joint Conference on Neural Networks. Barcelona, Spain.

M. Díaz, J. Sàez, D. Pardo and C. Angulo. Pet robots with social skills for satisfactory interaction with hospitalized children (R:SS 2010), Workshop: Learning for Human-Robot Interaction Modeling. Zaragoza, Spain.

D. Pardo and C. Angulo. Learning Humanoid Whole-Body Rest to Rest Motions (R:SS-2009), Workshop: Bridging the gap between high-level discrete representations and low-level continuous behaviors, Seattle, WA.

adrl/people/dpardo.txt · Last modified: 2017/08/07 08:27 by dpardo