65 citations · 188 across the 23 of their papers we have counts for
24 papers
SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning
Evelyn D'Elia, Weishu Zhan, Giulio Turrisi +5
Reinforcement learning (RL) algorithms classically suffer from poor sample efficiency. In robotics, a recent line of work has emerged addressing this problem by encoding physics pr…
Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
Carlotta Sartore, Mohamed Elobaid, Lorenzo Rapetti +13
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a…
Physics-Informed Learning for Human Whole-Body Kinematics Prediction via Sparse IMUs
Cheng Guo, Giuseppe L'Erario, Giulio Romualdi +4
Accurate and physically feasible human motion prediction is crucial for safe and seamless human-robot collaboration. While recent advancements in human motion capture enable real-t…
Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering
Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti +5
Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While the…
Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots
Ines Sorrentino, Giulio Romualdi, Lorenzo Moretti +2
This paper presents a novel framework for whole-body torque control of humanoid robots without joint torque sensors, designed for systems with electric motors and high-ratio harmon…
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives
Ines Sorrentino, Giulio Romualdi, Fabio Bergonti +3
This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing Physics-Informed Neural Networks…
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti +4
This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an autoregressive Deep Neural Networ…
Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques
Carlotta Sartore, Marco Rando, Giulio Romualdi +3
Developing sophisticated control architectures has endowed robots, particularly humanoid robots, with numerous capabilities. However, tuning these architectures remains a challengi…
Remote telepresence over large distances via robot avatars: case studies
Mohamed Elobaid, Stefano Dafarra, Ehsan Ranjbari +5
This paper discusses the necessary considerations and adjustments that allow a recently proposed avatar system architecture to be used with different robotic avatar morphologies (b…
Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti +7
Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent…
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…
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
Ines Sorrentino, Giulio Romualdi, Daniele Pucci
This paper proposes a novel sensor fusion based on Unscented Kalman Filtering for the online estimation of joint-torques of humanoid robots without joint-torque sensors. At the fea…
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
Mohamed Elobaid, Giulio Romualdi, Gabriele Nava +3
In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned foot…
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…
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…
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra +3
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. T…
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
Giulio Romualdi, Stefano Dafarra, Daniele Pucci
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper…
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
Stefano Dafarra, Giulio Romualdi, Giorgio Metta +1
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction…
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
Giulio Romualdi, Stefano Dafarra, Yue Hu +4
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motio…
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots
Milad Shafiee, Giulio Romualdi, Stefano Dafarra +2
We present a computationally efficient method for online planning of bipedal walking trajectories with push recovery. In particular, the proposed methodology fits control architect…
Whole-Body Geometric Retargeting for Humanoid Robots
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi +4
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. Thi…
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
Giulio Romualdi, Stefano Dafarra, Yue Hu +1
This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion. More precisely, we p…