28 citations · 80 across the 14 of their papers we have counts for
14 papers
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…
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…
Learning Aerodynamics for the Control of Flying Humanoid Robots
Antonello Paolino, Gabriele Nava, Fabio Di Natale +8
Robots with multi-modal locomotion are an active research field due to their versatility in diverse environments. In this context, additional actuation can provide humanoid robots…
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…
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives
Ines Sorrentino, Giulio Romualdi, Fabio Bergonti +3
This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing Physics-Informed Neural Networks…
From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry
Punith Reddy Vanteddu, Gabriele Nava, Fabio Bergonti +3
Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for r…
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…
Co-Design Optimisation of Morphing Topology and Control of Winged Drones
Fabio Bergonti, Gabriele Nava, Valentin Wüest +4
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required,…
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi +4
The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addre…
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…
Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines
Affaf Junaid Ahamad Momin, Gabriele Nava, Giuseppe LErario +5
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have bec…
Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
Tong Hui, Antonello Paolino, Gabriele Nava +5
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic…
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…