65 citations · 398 across the 34 of their papers we have counts for
5 papers · 2 filters
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…
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…
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…