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05/25/2023
Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot
Failure detection and fault tolerant control are fundamental safety feat...
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05/18/2023
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
In this paper we consider the problem of allowing a humanoid robot that ...
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05/15/2023
A Control Approach for Human-Robot Ergonomic Payload Lifting
Collaborative robots can relief human operators from excessive efforts d...
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03/30/2023
Torque Control with Joints Position and Velocity Limits Avoidance
The design of a control architecture for providing the desired motion al...
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03/14/2023
Simultaneous Action Recognition and Human Whole-Body Motion and Dynamics Prediction from Wearable Sensors
This paper presents a novel approach to solve simultaneously the problem...
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01/11/2023
Teleoperation of Humanoid Robots: A Survey
Teleoperation of humanoid robots enables the integration of the cognitiv...
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11/24/2022
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting
When a human and a humanoid robot collaborate physically, ergonomics is ...
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11/23/2022
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
The general problem of planning feasible trajectories for multimodal rob...
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11/17/2022
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
Physics simulators are widely used in robotics fields, from mechanical d...
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07/07/2022
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
The paper presents a planner to generate walking trajectories by using t...
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07/03/2022
Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot
Jumping can be an effective way of locomotion to overcome small terrain ...
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07/03/2022
Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots
This article takes a step to provide humanoid robots with adaptive morph...
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05/17/2022
Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines
Jet-powered vertical takeoff and landing (VTOL) drones require precise t...
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05/17/2022
Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
This paper presents a modeling and control framework for multibody flyin...
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05/16/2022
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Full-body motion estimation of a human through wearable sensing technolo...
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05/16/2022
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet
Extended Kalman filtering is a common approach to achieve floating base ...
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04/16/2022
An Integrated Programmable CPG with Bounded Output
Cyclic motions are fundamental patterns in robotic applications includin...
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04/11/2022
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics
The linearization of the equations of motion of a robotics system about ...
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03/14/2022
iCub3 Avatar System
We present an avatar system that enables a human operator to visit a rem...
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03/09/2022
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
This paper presents a Non-Linear Model Predictive Controller for humanoi...
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05/31/2021
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
This paper presents a contact-aided inertial-kinematic floating base est...
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05/30/2021
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
This manuscript presents a model of compliant contacts for time-critical...
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04/29/2021
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning
Balancing and push-recovery are essential capabilities enabling humanoid...
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04/28/2021
Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization
Humans show specialized strategies for efficient collaboration. Transfer...
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03/23/2021
A Plenum-Based Calibration Device for Tactile Sensor Arrays
In modern robotic applications, tactile sensor arrays (i.e., artificial ...
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03/22/2021
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Hand-eye calibration of laser profile sensors is the process of extracti...
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04/25/2020
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Performing large step-ups is a challenging task for a humanoid robot. It...
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03/10/2020
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
In this paper, we describe a planner capable of generating walking traje...
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01/02/2020
Recent Advances in Human-Robot Collaboration Towards Joint Action
Robots existed as separate entities till now, but the horizons of a symb...
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11/27/2019
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
This paper contributes towards the benchmarking of control architectures...
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11/05/2019
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning
In this paper we present Gym-Ignition, a new framework to create reprodu...
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10/14/2019
Trajectory Advancement for Robot Stand-up with Human Assistance
Physical interactions are inevitable part of human-robot collaboration t...
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09/29/2019
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics
The paper contributes towards the modeling, identification, and control ...
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09/23/2019
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots
We present a computationally efficient method for online planning of bip...
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09/22/2019
Whole-Body Geometric Retargeting for Humanoid Robots
Humanoid robot teleoperation allows humans to integrate their cognitive ...
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09/17/2019
Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics
This paper contributes towards the development of motion tracking algori...
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07/31/2019
Trajectory Advancement during Human-Robot Collaboration
As technology advances, the barriers between the co-existence of humans ...
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07/27/2019
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback
Nonlinear controllers for floating base systems in contact with the envi...
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06/12/2019
Identification of Motor Parameters on Coupled Joints
The estimation of the motor torque and friction parameters are crucial f...
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06/05/2019
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
The paper presents a software architecture to optimize the process of pr...
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12/03/2018
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
It is well known that sensors using strain gauges have a potential depen...
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09/17/2018
Towards Partner-Aware Humanoid Robot Control Under Physical Interactions
The topic of physical human-robot interaction received a lot of attentio...
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09/06/2018
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
This paper contributes towards the development and comparison of Diverge...
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09/05/2018
Telexistence and Teleoperation for Walking Humanoid Robots
This paper proposes an architecture for achieving telexistence and teleo...
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08/05/2018
Momentum-Based Topology Estimation of Articulated Objects
Articulated objects like doors, drawers, valves, and tools are pervasive...
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07/14/2018
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
A common approach to the generation of walking patterns for humanoid rob...
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03/09/2018