166 citations · 645 across the 36 of their papers we have counts for
11 papers · 1 filter
Contact Force and Joint Torque Estimation Using Skin
Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro +2
In this paper, we present algorithms to estimate external contact forces and joint torques using only skin, i.e. distributed tactile sensors. To deal with gaps between the tactile…
An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot
Marie Charbonneau, Gabriele Nava, Francesco Nori +1
A whole-body torque control framework adapted for balancing and walking tasks is presented in this paper. In the proposed approach, centroidal momentum terms are excluded in favor…
Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw
Gabriele Nava, Daniele Pucci, Nuno Guedelha +4
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking…
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot
Stefano Dafarra, Francesco Romano, Francesco Nori
Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a mo…
Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot
Stefano Dafarra, Francesco Romano, Francesco Nori
One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robot…
Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations
Francesco Nori
We propose an algorithm to compute the dynamics of articulated rigid-bodies with different sensor distributions. Prior to the on-line computations, the proposed algorithm performs…
A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping
Stefano Dafarra, Francesco Romano, Gabriele Nava +1
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary req…
Momentum Control of Humanoid Robots with Series Elastic Actuators
Gabriele Nava, Daniele Pucci, Francesco Nori
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity,…
Momentum Control of an Underactuated Flying Humanoid Robot
Daniele Pucci, Silvio Traversaro, Francesco Nori
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, conta…
On Centroidal Dynamics and Integrability of Average Angular Velocity
Alessandro Saccon, Silvio Traversaro, Francesco Nori +1
In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whethe…
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems
Francesco Romano, Silvio Traversaro, Daniele Pucci +3
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law…