I’m a Mechanical Engineer(Universidad de Carabobo, Venezuela, 2003). I also have a master in Mechatronics (Universitat Politècnica de Catalunya UPC, Spain, 2006). And I have a PhD degree with honors in Robotics and Advanced Automation (UPC, 2013. Currently I hold a potdoctoral fellow position at the Research Center "E. Piaggio" (University of Pisa). My main research topic is the consideration of kinematic and dynamic limitations for grasp planning under uncertainty. I’m also interested in trajectory planning and geometric methods for robot motion generation.