5 citations · 9 across the 12 of their papers we have counts for
12 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…
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…
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…
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…
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti +4
This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an autoregressive Deep Neural Networ…
Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots
Hosameldin Awadalla Omer Mohamed, Gabriele Nava, Punith Reddy Vanteddu +2
High force/torque (F/T) sensor calibration accuracy is crucial to achieving successful force estimation/control tasks with humanoid robots. State-of-the-art affine calibration mode…
Online Action Recognition for Human Risk Prediction with Anticipated Haptic Alert via Wearables
Cheng Guo, Lorenzo Rapetti, Kourosh Darvish +3
This paper proposes a framework that combines online human state estimation, action recognition and motion prediction to enable early assessment and prevention of worker biomechani…
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…
Learning to Walk and Fly with Adversarial Motion Priors
Giuseppe L'Erario, Drew Hanover, Angel Romero +5
Robot multimodal locomotion encompasses the ability to transition between walking and flying, representing a significant challenge in robotics. This work presents an approach that…