37 citations · 126 across the 25 of their papers we have counts for
8 papers · 1 filter
Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting
Carlotta Sartore, Lorenzo Rapetti, Daniele Pucci
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to a…
Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines
Affaf Junaid Ahamad Momin, Gabriele Nava, Giuseppe LErario +5
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have bec…
Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
Tong Hui, Antonello Paolino, Gabriele Nava +5
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic…
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri +6
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model…
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet
Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro +1
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) a…
An Integrated Programmable CPG with Bounded Output
Venus Pasandi, Hamid Sadeghian, Mehdi Keshmiri +1
Cyclic motions are fundamental patterns in robotic applications including industrial manipulation and legged robot locomotion. This paper proposes an approach for the online modula…