27 citations · 106 across the 13 of their papers we have counts for
15 papers
Barkour: Benchmarking Animal-level Agility with Quadruped Robots
Ken Caluwaerts, Atil Iscen, J. Chase Kew +41
Animals have evolved various agile locomotion strategies, such as sprinting, leaping, and jumping. There is a growing interest in developing legged robots that move like their biol…
Imitate and Repurpose: Learning Reusable Robot Movement Skills From Human and Animal Behaviors
Steven Bohez, Saran Tunyasuvunakool, Philemon Brakel +18
We investigate the use of prior knowledge of human and animal movement to learn reusable locomotion skills for real legged robots. Our approach builds upon previous work on imitati…
Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics
Michael Neunert, Abbas Abdolmaleki, Markus Wulfmeier +7
Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision…
Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer
Rae Jeong, Jackie Kay, Francesco Romano +6
Learning robotic control policies in the real world gives rise to challenges in data efficiency, safety, and controlling the initial condition of the system. On the other hand, sim…
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
Diego Ferigo, Silvio Traversaro, Francesco Romano +1
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The a…
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
Stefano Dafarra, Gabriele Nava, Marie Charbonneau +8
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of thr…
Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw
Gabriele Nava, Daniele Pucci, Nuno Guedelha +4
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking…
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot
Stefano Dafarra, Francesco Romano, Francesco Nori
Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a mo…
Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot
Stefano Dafarra, Francesco Romano, Francesco Nori
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robot…
A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping
Stefano Dafarra, Francesco Romano, Gabriele Nava +1
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary req…
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems
Francesco Romano, Silvio Traversaro, Daniele Pucci +3
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law…
The Static Center of Pressure Sensitivity: a further Criterion to assess Contact Stability and Balancing Controllers
Francesco Romano, Daniele Pucci, Silvio Traversaro +1
Legged locomotion has received increasing attention from the robotics community. In this respect, contact stability plays a critical role in ensuring that robots maintain balance,…
Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots
Gabriele Nava, Francesco Romano, Francesco Nori +1
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable contr…
Prioritized Optimal Control
Andrea Del Prete, Francesco Romano, Lorenzo Natale +3
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a wides…
Collocated Adaptive Control of Underactuated Mechanical Systems
Francesco Romano, Daniele Pucci, Francesco Nori
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with res…