7 papers
A Framework for Optimal Ankle Design of Humanoid Robots
Guglielmo Cervettini, Roberto Mauceri, Alex Coppola +4
The design of the humanoid ankle is critical for safe and efficient ground interaction. Key factors such as mechanical compliance and motor mass distribution have driven the adopti…
CAD-Driven Co-Design for Flight-Ready Jet-Powered Humanoids
Punith Reddy Vanteddu, Davide Gorbani, Giuseppe L'Erario +3
This paper presents a CAD-driven co-design framework for optimizing jet-powered aerial humanoid robots to execute dynamically constrained trajectories. Starting from the iRonCub-Mk…
Learning Aerodynamics for the Control of Flying Humanoid Robots
Antonello Paolino, Gabriele Nava, Fabio Di Natale +8
Robots with multi-modal locomotion are an active research field due to their versatility in diverse environments. In this context, additional actuation can provide humanoid robots…
iRonCub 3: The Jet-Powered Flying Humanoid Robot
Davide Gorbani, Hosameldin Awadalla Omer Mohamed, Giuseppe L'Erario +11
This article presents iRonCub 3, a jet-powered humanoid robot, and its first flight experiments. Unlike traditional aerial vehicles, iRonCub 3 aims to achieve flight using a full-b…
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives
Ines Sorrentino, Giulio Romualdi, Fabio Bergonti +3
This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing Physics-Informed Neural Networks…
From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry
Punith Reddy Vanteddu, Gabriele Nava, Fabio Bergonti +3
Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for r…