3 papers
cs.RO2026
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…
cs.RO2025
Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering
Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti +5
Recent trends in humanoid robot control have successfully employed imitation learning to enable the learned generation of smooth, human-like trajectories from human data. While the…
cs.RO2025
Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti +7
Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if they assume an inherent…