28 citations · 89 across the 21 of their papers we have counts for
5 papers · 1 filter
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…
Co-Design Optimisation of Morphing Topology and Control of Winged Drones
Fabio Bergonti, Gabriele Nava, Valentin Wüest +4
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required,…
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…
Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot
Gabriele Nava, Daniele Pucci
Failure detection and fault tolerant control are fundamental safety features of any aerial vehicle. With the emergence of complex, multi-body flying systems such as jet-powered hum…
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
Mohamed Elobaid, Giulio Romualdi, Gabriele Nava +3
In this paper we consider the problem of allowing a humanoid robot that is subject to a persistent disturbance, in the form of a payload-carrying task, to follow given planned foot…