65 citations · 164 across the 14 of their papers we have counts for
17 papers
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…
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…
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…
Online Action Recognition for Human Risk Prediction with Anticipated Haptic Alert via Wearables
Cheng Guo, Lorenzo Rapetti, Kourosh Darvish +3
This paper proposes a framework that combines online human state estimation, action recognition and motion prediction to enable early assessment and prevention of worker biomechani…
Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization
Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti +3
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes…
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…
A Control Approach for Human-Robot Ergonomic Payload Lifting
Lorenzo Rapetti, Carlotta Sartore, Mohamed Elobaid +5
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collab…
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting
Carlotta Sartore, Lorenzo Rapetti, Daniele Pucci
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to a…
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri +6
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model…
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…
Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization
Lorenzo Rapetti, Yeshasvi Tirupachuri, Alberto Ranavolo +3
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leadi…
Recent Advances in Human-Robot Collaboration Towards Joint Action
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti +3
Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware,…
Trajectory Advancement for Robot Stand-up with Human Assistance
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti +2
Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need t…
A Novel Sensorised Insole for Sensing Feet Pressure Distributions
Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella +9
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile ca…
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…
Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics on SO(3)
Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish +2
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinemat…
Trajectory Advancement during Human-Robot Collaboration
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti +2
As technology advances, the barriers between the co-existence of humans and robots are slowly coming down. The prominence of physical interactions for collaboration and cooperation…