65 citations · 182 across the 25 of their papers we have counts for
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cs.RO2020
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin +3
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its b…
cs.RO2020
Predictive Whole-Body Control of Humanoid Robot Locomotion
Stefano Dafarra
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from…
cs.RO2020
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
Stefano Dafarra, Giulio Romualdi, Giorgio Metta +1
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction…