37 citations · 119 across the 24 of their papers we have counts for
7 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 Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
Giulio Romualdi, Stefano Dafarra, Yue Hu +1
This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion. More precisely, we p…
Telexistence and Teleoperation for Walking Humanoid Robots
Mohamed Elobaid, Yue Hu, Giulio Romualdi +3
This paper proposes an architecture for achieving telexistence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomot…
Momentum-Based Topology Estimation of Articulated Objects
Yeshasvi Tirupachuri, Silvio Traversaro, Francesco Nori +1
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between th…
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…