65 citations · 411 across the 54 of their papers we have counts for
68 papers
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario +2
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink…
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,…
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…
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…
Torque Control with Joints Position and Velocity Limits Avoidance
Venus Pasandi, Daniele Pucci
The design of a control architecture for providing the desired motion along with the realization of the joint limitation of a robotic system is still an open challenge in control a…