65 citations · 398 across the 34 of their papers we have counts for
38 papers · 1 filter
Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
Carlotta Sartore, Mohamed Elobaid, Lorenzo Rapetti +13
Collaboration is central to human behavior, enabling tasks beyond individual capability. This ability arises from coordinating actions through internal representations of others, a…
Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots
Ines Sorrentino, Giulio Romualdi, Lorenzo Moretti +2
This paper presents a novel framework for whole-body torque control of humanoid robots without joint torque sensors, designed for systems with electric motors and high-ratio harmon…
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…
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti +4
This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an autoregressive Deep Neural Networ…
XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid +6
This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for a whole-body autonomous humanoid robot used in real-world H…
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario +2
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink…
Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization
Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti +3
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes…
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario +2
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simul…
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri +6
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model…
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet
Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro +1
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) a…
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics
Martijn Bos, Silvio Traversaro, Daniele Pucci +1
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based…
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario +3
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroida…
iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots
Stefano Dafarra, Ugo Pattacini, Giulio Romualdi +18
We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di T…
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…
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning
Diego Ferigo, Raffaello Camoriano, Paolo Maria Viceconte +4
Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on si…
A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems
Tobias Fischer, Wolf Vollprecht, Silvio Traversaro +3
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based in…
A Plenum-Based Calibration Device for Tactile Sensor Arrays
Joan Kangro, Anand Vazhapilli Sureshbabu, Silvio Traversaro +2
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent…
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello +8
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a rob…
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning
Diego Ferigo, Silvio Traversaro, Giorgio Metta +1
This paper presents Gym-Ignition, a new framework to create reproducible robotic environments for reinforcement learning research. It interfaces with the new generation of Gazebo,…
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…
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics
Giuseppe L'Erario, Luca Fiorio, Gabriele Nava +5
The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines g…
Identification of Motor Parameters on Coupled Joints
Nuno Guedelha, Silvio Traversaro, Daniele Pucci
The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torqu…
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
Diego Ferigo, Silvio Traversaro, Francesco Romano +1
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The a…