27 citations · 87 across the 5 of their papers we have counts for
6 papers · 1 filter
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…
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…
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…