65 citations · 182 across the 25 of their papers we have counts for
6 papers · 1 filter
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi +4
The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addre…
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
Stefano Dafarra, Giulio Romualdi, Daniele Pucci
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and th…
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri +6
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model…
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet
Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro +1
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) a…
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario +3
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroida…
iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots
Stefano Dafarra, Ugo Pattacini, Giulio Romualdi +18
We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di T…