5 papers
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…
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…
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…
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…
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…