3 citations · 5 across the 3 of their papers we have counts for
5 papers · 1 filter
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario +2
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink…
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario +2
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simul…
Identification of Motor Parameters on Coupled Joints
Nuno Guedelha, Silvio Traversaro, Daniele Pucci
The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torqu…
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…