28 citations · 70 across the 19 of their papers we have counts for
6 papers · 1 filter
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…
CAD-Driven Co-Design for Flight-Ready Jet-Powered Humanoids
Punith Reddy Vanteddu, Davide Gorbani, Giuseppe L'Erario +3
This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk…
Data-fused MPC with Guarantees: Application to Flying Humanoid Robots
Davide Gorbani, Mohamed Elobaid, Giuseppe L'Erario +2
This paper introduces a Data-Fused Model Predictive Control (DFMPC) framework that combines physics-based models with data-driven representations of unknown dynamics. Leveraging Wi…
iRonCub 3: The Jet-Powered Flying Humanoid Robot
Davide Gorbani, Hosameldin Awadalla Omer Mohamed, Giuseppe L'Erario +11
This article presents iRonCub 3, a jet-powered humanoid robot, and its first flight experiments. Unlike traditional aerial vehicles, iRonCub 3 aims to achieve flight using a full-b…
Unified Multi-Rate Model Predictive Control for a Jet-Powered Humanoid Robot
Davide Gorbani, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed +1
We propose a novel Model Predictive Control (MPC) framework for a jet-powered flying humanoid robot. The controller is based on a linearised centroidal momentum model to represent…