2 papers
cs.RO2024
XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid +6
This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for a whole-body autonomous humanoid robot used in real-world H…
cs.RO2022
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…