28 citations · 89 across the 21 of their papers we have counts for
4 papers · 1 filter
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro +2
It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F…
Towards Partner-Aware Humanoid Robot Control Under Physical Interactions
Yeshasvi Tirupachuri, Gabriele Nava, Claudia Latella +5
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical inte…
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
Stefano Dafarra, Gabriele Nava, Marie Charbonneau +8
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of thr…
Exploiting Friction in Torque Controlled Humanoid Robots
Gabriele Nava, Diego Ferigo, Daniele Pucci
A common architecture for torque controlled humanoid robots consists in two nested loops. The outer loop generates desired joint/motor torques, and the inner loop stabilises these…