21 citations · 30 across the 5 of their papers we have counts for
8 papers
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…
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…