65 citations · 211 across the 31 of their papers we have counts for
3 papers · 2 filters
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin +3
Performing large step-ups is a challenging task for a humanoid robot. It requires the robot to perform motions at the limit of its reachable workspace while straining to move its b…
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
Stefano Dafarra, Giulio Romualdi, Giorgio Metta +1
In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot model. The interaction…
Recent Advances in Human-Robot Collaboration Towards Joint Action
Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti +3
Robots existed as separate entities till now, but the horizons of a symbiotic human-robot partnership are impending. Despite all the recent technical advances in terms of hardware,…