PIROS - Production & Innovation with ROS

Organisation:National Research Council of Italy, Institute of Industrial Technologies and Automation

Website: www.itia.cnr.it

Address: Via Bassini 15, 20133 Milan, Italy

Contact: Dr. Nicola Pedrocchi (Tel: +390223699625, nicola.pedrocchi(at)itia.cnr.it)


Other Staff:

  • Enrico Villagrossi (CNR-ITIA)
  • Paolo Magnoni (CNR-ITIA)
  • Loris Roveda (CNR-ITIA)
  • Manuel Beschi (CNR-ITIA)
  • Tito Dinon (CNR-ITIA)
  • Alberto Tellaeche (TEKNIKER)
  • Aitor Ibarguren (TEKNIKER)
  • Ane Fernandez (TEKNIKER)
  • Inaki Maurtua (TEKNIKER)


Team Profile:

Many young and motivated researchers with CNR-ITIA and TEKNIKER compose the PIROS team.

CNR-ITIA, as a promoter of Industrial Innovation, performs strategic activities of Scientific Research and Technological Development for the Competitiveness and Sustainability of Italian and European Manufacturing Industries. CNR-ITIA, contributing and supported the European Technological Platform MANUFUTURE initiative (ITIA’s Director is a member of the High Level Group and of the Implementation Support Group), for the development of high added value manufacturing, co-evolution of new Products/Services, Processes, Production Systems and related enabling technologies. CNR-ITIA is founder member of EFFRA and member of the Industrial Research Advisory Group and of the Ad-hoc Industrial Advisory Group; CNR-ITIA is founding member of euRobotics AISBL.

IRAS, the Robotics Division of CNR-ITIA, develops technologies for effective, robust and safe robot-environment and robot-human interaction. The integration of sensorial information into behavioral models and controls of robots enables the intuitive, robust and flexible use of robots in context-aware applications and a natural, transparent and safe workspace sharing.

IRAS has gained outstanding experience in the development of comprehensive theoretical and experimental coverage of interaction control problems, starting from the mathematical modelling of robots interacting with complex dynamic environments and proceeding to various concepts for interaction, control design is mandatory to achieve IRs autonomy in technological application (e.g. deburring, polishing, grinding, guidance, etc.).

IK4-TEKNIKER is a technological centre legally constituted as a private not-for-profit Foundation that aims at the development and transfer of technology to improve the competitiveness of industry.

In line with its missions and origins, IK4-TEKNIKER not only provides companies with technological support, but is also involved in generating new business initiatives, which are usually technological and, often, "spin offs" of the centre itself.Since the early nineties, IK4-TEKNIKER has been involved in setting up around twenty new business initiatives to a greater or lesser extent. Most of these initiatives were in the industrial sector. Robotic technologies have been identified as drivers in competitiveness either in the industrial sector as well as in others, such as agriculture, health and transport. IK4-TEKNIKER has been participating in both national and European projects in the field of Advanced Industrial and Service Robotics. Therefore, the acquisition of technologies in this field allows to IK4-TEKNIKER to build the technological basis for the next robotics generation, characterized by complex products with short production cycles, which require flexibility in mounting, accuracy and reliability beyond the capabilities of workers.

The research group mainly involved in the project is the Smart and Autonomous System Unit (SAI). SAI research is focused on developing intelligent robotic applications able to interpret the environment through multimodal sensors, implementing strategies for navigation and manipulation to adapt to changing conditions and allow safe interaction with people. SAI has an experienced team consisting of electrical, electronic, computer engineers and physicists.


The PIROS team results complementary in term of:

  • Scientific competencies: CNR-ITIA have a long-standing experience in model-based control, force based control for assembly and disassembly tasks with industrial robots, robot dynamic modelling, identification techniques, kinematics and dynamic calibration. IK4-TEKNIKER have long-standing experience in vision based control tasks, machine vision, pattern recognition systems and visual servoing algorithms. 
  • Technological competencies: CNR-ITIA have great experience in the development of hard-real time control systems, robot manufacturing and automation solutions, developed in collaboration with industrial partners in a wide range of their real applications. IK4-TEKNIKER is long-standing with the use of ROS framework to address many industrial manipulation through a dual arm manipulator.

Eng. PhD Nicola Pedrocchi holds an M.Sc. in Mechanical Engineering (2004) and PhD in Mechanical Engineering (2008) from the University of Brescia. He is a permanent researcher at ITIA responsible for control research activities of industrial robots in CNR-ITIA. His research field is focused on control of robot-environment interactions. He is involved in research for accurate elastic modelling and dynamic calibration of Industrial Robots. He is/has been the local scientific responsible for many European Projects - FP7-FLEXICAST, NEXT, SMErobot, ROBOFOOT and he has been involved in - TRANS-IND, NET4M, ACTIVE.

Eng. Enrico Villagrossi received the M.S. degree in Industrial Automation Engineering from the University of Brescia in 2011. From June 2011 to December 2012 he was research fellow with CNR-ITIA. Since January 2013, he is a Ph. D. student in Applied Mechanics at the University of Brescia. His research interest include industrial robotics, industrial control, robot dynamic model, identification techniques, real-time systems. He has been involved in ROBOFOOT and FLEXICAST FP7 European Projects.

Eng. Paolo Magnoni received his M.S. degree in Mechanical Engineering from Politecnico di Milano in 2012 (UCIMU award 2013 for the best M.S thesis in “robotics” section). From January 2013 he was research fellow with CNR-ITIA and from January 2014 Ph.D. student in Applied Mechanics at the University of Brescia. His research interests include Motion Planning, Inverse Kinematics and Interpolation Methods, Safe Human-Robot Interaction Algorithms, Open Controllers for Industrial Robots, DMD Additive Manufacturing. He has been involved in ACTIVE European Project.

Eng. Loris Roveda received his M.S. degree in Mechanical Engineering from Politecnico di Milano in 2011 (UCIMU award 2012 for the best M.S thesis in “robotics” section). He started his Ph.D. in Mechanical Engineering in January 2012 jointly with Politecnico di Milano and CNR-ITIA. His research interests include interaction control (impedance control, force control, impedance shaping control) applied to industrial robotics, controlled robot performance evaluation, dynamic and contact modeling, signal analysis. He has been involved in ACTIVE European Project. He spent 5 months at NASA-JPL working on the Hedgehog project, modeling and experimentally evaluating contact dynamics and studying control algorithms.

Eng. PhD Manuel Beschi received his M.S. in Industrial Automation Engineering at the University of Brescia in 2010, discussing a thesis about the temperature control of a high concentrating solar furnace. He received his Ph.D in Computer Science, Engineering and Control Systems at the University of Brescia in 2014. His research activity is focused on event based control, dynamic inversion based control, industrial control, robot dynamic model, identification techniques.

Dr. Alberto Tellaeche holds an M.Sc. in Automation and Electronics Engineering, obtained in the University of Deusto (2001), and a Ph.D. in Systems Engineering and Automation from the Computer Science faculty in the UNED (2008), obtained with a research based in machine vision and pattern recognition techniques. In April 2007 he joined IK4-TEKNIKER foundation as a researcher, in the Smart and Autonomous Systems unit, working in machine vision and pattern recognition systems. Morevoer, since 2010, he is also an assistant lecturer in the University of Deusto, in the Industrial Technologies department, teaching industrial automation courses.

Dr. Aitor Ibarguren received the M.Sc. degree in Computer Science in 2004 and the PhD in Computer Science in 2008, both from the UPV-EHU. His main experience is in the fields of Artificial Intelligence, artificial vision and robotics. He has participated actively in ROBOFOOT and X-ACT, in which he has developed the visual servoing algorithms used in both projects for the fine positioning of robot arms.

Ms. Ane Fernandez received her degree in Telecommunication Engineering from the University of the Basque Country in 2011. She has great experience in ROS, MoveIt and GAZEBO, environments and tools she has used in the EU funded projects, MIROR and MAINBOT to simulate and develop control algorithms for mobile manipulation, as well as in other robotic projects she is taking part in.

Mr. Iñaki Maurtua. Electrical Engineer with more than 25 years of experience. He is the Head of the Smart and Autonomous System Unit and has participated and coordinated several European and national projects dealing with robotics and machine vision, wearable computing, system monitoring and flexible manufacturing systems (taking part in the development of 7 flexible manufacturing cells, including the programming of the robotic elements). He has been the coordinator of FP7 ROBOFOOT project and the ongoing MAINBOT FP7 project on robotics.


Impedance Shaping

Robofoot Visual Servoing


Go back

RoboFoot Roughing

Ros Gazebo Mainbot

Robofoot Packaging

X Act Disassembly

Partner of

ICT Innovation for Manufacturing SMEs





2013-10-17 08:00 CET

Representatives of all projects involved in the I4MS initiative met in Brussels on the 11th of October to discuss joint market visibility, synergies among projects etc.

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November 2019