IIT Publications Search

2022
Viceconte P.M., Camoriano R., Romualdi G., Ferigo D., Dafarra S., Traversaro S., Oriolo G., Rosasco L., Pucci D.
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots
IEEE Robotics and Automation Letters, vol. 7, (no. 2), pp. 2779-2786
DOI 10.1109/LRA.2022.3141658 Article Journal
2022
Ramadoss P., Romualdi G., Dafarra S., Traversaro S., Pucci D.
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI 10.1109/IROS47612.2022.9982275 Conference Paper Conference
2022
Dafarra S., Romualdi G., Pucci D.
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
IEEE Transactions on Robotics, vol. 38, (no. 6), pp. 3414-3433
DOI 10.1109/TRO.2022.3183785 Article Journal
2022
Dafarra S., Darvish K., Grieco R., Milani G., Pattacini U., Rapetti L., Romualdi G., Salvi M., Scalzo A., Sorrentino I., Tomè D., Traversaro S., Valli E., Viceconte P. M., Metta G., Maggiali M., Pucci D.
iCub3 Avatar System
arXiv
DOI 10.48550/arXiv.2203.06972 Article in Press Journal
2022
Romualdi G., Dafarra S., L'Erario G., Sorrentino I., Traversaro S., Pucci D.
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Proceedings - IEEE International Conference on Robotics and Automation, pp. 10412-10419
DOI 10.1109/ICRA46639.2022.9811670 Conference Paper Conference
2022
Romualdi G., Villa N. A., Dafarra S., Pucci D., Stasse O.
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility Conference
2022 IEEE-RAS International Conference on Humanoid Robotics (Humanoids)
Conference Paper Conference
2021
Ramadoss P., Romualdi G., Dafarra S., Chavez F.J.A., Traversaro S., Pucci D.
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2021-May, pp. 2904-2910
DOI 10.1109/ICRA48506.2021.9561248 Conference Paper Conference
2021
Romualdi G., Dafarra S., Pucci D.
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
IEEE Robotics and Automation Letters, vol. 6, (no. 3), pp. 4289-4296
DOI 10.1109/LRA.2021.3067589 Article Journal
2020
Romualdi G., Dafarra S., Hu Y., Ramadoss P., Chavez F.J.A., Traversaro S., Pucci D.
A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots
International Journal of Humanoid Robotics, vol. 17, (no. 1)
DOI 10.1142/S0219843619500348 Article Journal
2020
Elobaid M., Hu Y., Romualdi G., Dafarra S., Babic J., Pucci D.
Telexistence and teleoperation for walking humanoid robots
Advances in Intelligent Systems and Computing, vol. 1038, pp. 1106-1121
DOI 10.1007/978-3-030-29513-4_80 Conference Paper Book Series
2020
Dafarra S., Romualdi G., Metta G., Pucci D.
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
Proceedings - IEEE International Conference on Robotics and Automation, pp. 1511-1517
DOI 10.1109/ICRA40945.2020.9196801 Conference Paper Conference
2019
Romualdi G., Dafarra S., Hu Y., Pucci D.
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, pp. 966-973
DOI 10.1109/HUMANOIDS.2018.8625025 Conference Paper Conference
2019
Romualdi G., Dafarra S., Hu Y., Pucci D.
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
ICRA 2019- IEEE International Conference on Robotics and Automation
Poster Conference
2019
Shafiee M., Romualdi G., Dafarra S., Chavez F.J.A., Pucci D.
Online dcm trajectory generation for push recovery of torque-controlled humanoid robots
IEEE-RAS International Conference on Humanoid Robots, vol. 2019-October, pp. 671-678
DOI 10.1109/Humanoids43949.2019.9034996 Conference Paper Conference
2019
Shafiee M., Romualdi G., Dafarra S., Andrade-Chavez F. J., Pucci D.
Online Trajectory Generation for Step Recovery in Bipedal Robot Locomotion
Italian Institute of Robotics and Intelligent Machines Conference
Poster Conference