37 citations · 58 across the 4 of their papers we have counts for
8 papers
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra +3
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. T…
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
Giulio Romualdi, Stefano Dafarra, Yue Hu +4
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motio…
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots
Milad Shafiee, Giulio Romualdi, Stefano Dafarra +2
We present a computationally efficient method for online planning of bipedal walking trajectories with push recovery. In particular, the proposed methodology fits control architect…
A Novel Sensorised Insole for Sensing Feet Pressure Distributions
Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella +9
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile ca…
Whole-Body Geometric Retargeting for Humanoid Robots
Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi +4
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. Thi…
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback
Ahmad Gazar, Gabriele Nava, Francisco Javier Andrade Chavez +1
Nonlinear controllers for floating base systems in contact with the environment are often framed as quadratic programming (QP) optimization problems. Common drawbacks of such QP ba…