72 citations · 115 across the 16 of their papers we have counts for
20 papers
Bridging Task Planning and Execution for Language-Conditioned Bimanual Manipulation
Emanuele Cuzzocrea, Giuseppina Iannotti, Luca Rossini +2
Robots are increasingly expected to execute natural-language manipulation tasks in real-world environments. This is particularly relevant in household assistance and logistics, whe…
Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition
Changhao Li, Yifang Zhang, Heng Zhang +6
Real-world online reinforcement learning (RL) provides a promising approach for training robotic manipulation policies directly in the physical world, avoiding the sim-to-real gap…
Learning Fault-Tolerant Locomotion with Adaptive Gait Timing
Giovanbattista Gravina, Luca Rossini, Carlo Rizzardo +2
Hardware failures require legged robots to rapidly reorganize coordination and gait timing to maintain stability and mobility. This is particularly challenging for larger quadruped…
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8
This paper presents KYON, a hybrid wheel-legged quadruped robot equipped with a bimanual upper body for loco-manipulation tasks. The platform features a semi-modular design with a…
RL-Augmented MPC for Non-Gaited Legged and Hybrid Locomotion
Andrea Patrizi, Carlo Rizzardo, Arturo Laurenzi +3
We propose a contact-explicit hierarchical architecture coupling Reinforcement Learning (RL) and Model Predictive Control (MPC), where a high-level RL agent provides gait and navig…
A Task-Driven, Planner-in-the-Loop Computational Design Framework for Modular Manipulators
Maolin Lei, Edoardo Romiti, Arturo Laurenzi +5
Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible m…
Unified Hierarchical MPC in Task Executing for Modular Manipulators across Diverse Morphologies
Maolin Lei, Edoardo Romiti, Arturo Laurenzi +4
This work proposes a unified Hierarchical Model Predictive Control (H-MPC) for modular manipulators across various morphologies, as the controller can adapt to different configurat…
CONCERT: a Modular Reconfigurable Robot for Construction
Luca Rossini, Edoardo Romiti, Arturo Laurenzi +16
This paper presents CONCERT, a fully reconfigurable modular collaborative robot (cobot) for multiple on-site operations in a construction site. CONCERT has been designed to support…
A High-Force Gripper with Embedded Multimodal Sensing for Powerful and Perception Driven Grasping
Edoardo Del Bianco, Davide Torielli, Federico Rollo +6
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless,…
Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model
Jin Wang, Arturo Laurenzi, Nikos Tsagarakis
Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves…
Task-Driven Computational Framework for Simultaneously Optimizing Design and Mounted Pose of Modular Reconfigurable Manipulators
Maolin Lei, Edoardo Romiti, Arturo Laurenz +1
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task…
Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped
Ioannis Dadiotis, Arturo Laurenzi, Nikos Tsagarakis
Recent progress in legged locomotion has rendered quadruped manipulators a promising solution for performing tasks that require both mobility and manipulation (loco-manipulation).…
Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications
Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli +13
This work presents the computational design and validation of the Multi-Arm Relocatable Manipulator (MARM), a three-limb robot for space applications, with particular reference to…
Trajectory Optimization for Quadruped Mobile Manipulators that Carry Heavy Payload
Ioannis Dadiotis, Arturo Laurenzi, Nikos Tsagarakis
This paper presents a simplified model-based trajectory optimization (TO) formulation for motion planning on quadruped mobile manipulators that carry heavy payload of known mass. T…
Prototyping fast and agile motions for legged robots with Horizon
Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis +1
For legged robots to perform agile, highly dynamic and contact-rich motions, whole-body trajectories computation of under-actuated complex systems subject to non-linear dynamics is…
Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies
Luca Rossini, Paolo Ferrari, Francesco Ruscelli +3
The deployment of robots within realistic environments requires the capability to plan and refine the loco-manipulation trajectories on the fly to avoid unexpected interactions wit…
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi +3
Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or the quadruped ANYmal [2] i…
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi +1
The kinematic features of a centaur-type humanoid platform, combined with a powerful actuation, enable the experimentation of a variety of agile and dynamic motions. However, the h…
Flexible Disaster Response of Tomorrow -- Final Presentation and Evaluation of the CENTAURO System
Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere +29
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promisin…
Remote Mobile Manipulation with the Centauro Robot: Full-body Telepresence and Autonomous Operator Assistance
Tobias Klamt, Max Schwarz, Christian Lenz +21
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenan…