2 papers
cs.RO2024
Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques
Carlotta Sartore, Marco Rando, Giulio Romualdi +3
Developing sophisticated control architectures has endowed robots, particularly humanoid robots, with numerous capabilities. However, tuning these architectures remains a challengi…
cs.RO2022
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting
Carlotta Sartore, Lorenzo Rapetti, Daniele Pucci
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to a…