75 citations · 123 across the 6 of their papers we have counts for
7 papers · 1 filter
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…
A Framework for Optimal Ankle Design of Humanoid Robots
Guglielmo Cervettini, Roberto Mauceri, Alex Coppola +4
The design of the humanoid ankle is critical for safe and efficient ground interaction. Key factors such as mechanical compliance and motor mass distribution have driven the adopti…
Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot
Fabio Bergonti, Luca Fiorio, Daniele Pucci
Jumping can be an effective way of locomotion to overcome small terrain gaps or obstacles. In this paper we propose two different approaches to perform jumps with a humanoid robot.…
Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots
Fabio Bergonti, Gabriele Nava, Luca Fiorio +2
This article takes a step to provide humanoid robots with adaptive morphology abilities. We present a systematic approach for enabling robotic covers to morph their shape, with an…
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics
Giuseppe L'Erario, Luca Fiorio, Gabriele Nava +5
The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines g…
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…