65 citations · 411 across the 54 of their papers we have counts for
7 papers · 1 filter
Model Based In Situ Calibration of Six Axis Force Torque Sensors
Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci +1
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage…
Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots
Daniele Pucci, Gabriele Nava, Francesco Nori
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal d…
The Static Center of Pressure Sensitivity: a further Criterion to assess Contact Stability and Balancing Controllers
Francesco Romano, Daniele Pucci, Silvio Traversaro +1
Legged locomotion has received increasing attention from the robotics community. In this respect, contact stability plays a critical role in ensuring that robots maintain balance,…
Skin Normal Force Calibration Using Vacuum Bags
Joan Kangro, Silvio Traversaro, Daniele Pucci +1
The paper presents a proof of concept to calibrate iCub's skin using vacuum bags. The method's main idea consists in inserting the skin in a vacuum bag, and then decreasing the pre…
On-line Joint Limit Avoidance for Torque Controlled Robots by Joint Space Parametrization
Marie Charbonneau, Francesco Nori, Daniele Pucci
This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators…
Analysis and Control of Aircraft Longitudinal Dynamics with Large Flight Envelopes
Daniele Pucci
The paper contributes towards the development of a unified control approach for longitudinal aircraft dynamics with large flight envelopes. Prior to the control design, we analyze…