15 citations · 24 across the 7 of their papers we have counts for
9 papers
Safe Ergodic Control for Multi-Robot Systems via Quadratic Programming
Yo Toyomoto, Mohamed Elobaid, Bryce L. Ferguson +2
Ergodic control drives robots to spend time in each region in proportion to a spatial distribution of interest, making it well suited for dense spatiotemporal environmental monitor…
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…
On the Stabilization of Rigid Formations on Regular Curves
Mohamed Elobaid, Shinkyu Park, Eric Feron
This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation o…
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…
Remote telepresence over large distances via robot avatars: case studies
Mohamed Elobaid, Stefano Dafarra, Ehsan Ranjbari +5
This paper discusses the necessary considerations and adjustments that allow a recently proposed avatar system architecture to be used with different robotic avatar morphologies (b…
XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid +6
This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for a whole-body autonomous humanoid robot used in real-world H…
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…
Telexistence and Teleoperation for Walking Humanoid Robots
Mohamed Elobaid, Yue Hu, Giulio Romualdi +3
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomot…