166 citations · 645 across the 36 of their papers we have counts for
10 papers · 1 filter
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds
Silvio Traversaro, Stanislas Brossette, Adrien Escande +1
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed co…
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…
Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis
Yue Hu, Jorhabib Eljaik, Kevin Stein +2
The humanoid robot iCub is a research platform of the Fondazione Istituto Italiano di Tecnologia (IIT), spread among different institutes around the world. In the most recent versi…
Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas
Georg Wiedebach, Sylvain Bertrand, Tingfan Wu +5
We present a method for humanoid robot walking on partial footholds such as small stepping stones and rocks with sharp surfaces. Our algorithm does not rely on prior knowledge of t…
Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots
Gabriele Nava, Francesco Romano, Francesco Nori +1
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable contr…
Incremental Semiparametric Inverse Dynamics Learning
Raffaello Camoriano, Silvio Traversaro, Lorenzo Rosasco +2
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based o…