166 citations · 645 across the 36 of their papers we have counts for
7 papers · 1 filter
In Situ Calibration of Six-Axes Force Torque Sensors using Accelerometer Measurements
Silvio Traversaro, Daniele Pucci, Francesco Nori
This paper proposes techniques to calibrate six-axis force-torque sensors that can be performed in situ, i.e., without removing the sensor from the hosting system. We assume that t…
Partial Force Control of Constrained Floating-Base Robots
Andrea Del Prete, Nicolas Mansard, Francesco Nori +2
Legged robots are typically in rigid contact with the environment at multiple locations, which add a degree of complexity to their control. We present a method to control the motio…
Prioritized Optimal Control
Andrea Del Prete, Francesco Romano, Lorenzo Natale +3
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a wides…
Inertial Parameter Identification Including Friction and Motor Dynamics
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore +2
Identification of inertial parameters is fundamental for the implementation of torque-based control in humanoids. At the same time, good models of friction and actuator dynamics ar…
Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics"
Andrea Del Prete, Francesco Nori, Giorgio Metta +1
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the…
Collocated Adaptive Control of Underactuated Mechanical Systems
Francesco Romano, Daniele Pucci, Francesco Nori
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with res…
Tools for dynamics simulation of robots: a survey based on user feedback
Serena Ivaldi, Vincent Padois, Francesco Nori
The number of tools for dynamics simulation has grown in the last years. It is necessary for the robotics community to have elements to ponder which of the available tools is the b…