65 citations · 398 across the 34 of their papers we have counts for
5 papers · 1 filter
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds
Silvio Traversaro, Stanislas Brossette, Adrien Escande +1
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed co…
Model Based In Situ Calibration of Six Axis Force Torque Sensors
Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci +1
This paper proposes and validates an in situ calibration method to calibrate six axis force torque (F/T) sensors once they are mounted on the system. This procedure takes advantage…
The Static Center of Pressure Sensitivity: a further Criterion to assess Contact Stability and Balancing Controllers
Francesco Romano, Daniele Pucci, Silvio Traversaro +1
Legged locomotion has received increasing attention from the robotics community. In this respect, contact stability plays a critical role in ensuring that robots maintain balance,…
Skin Normal Force Calibration Using Vacuum Bags
Joan Kangro, Silvio Traversaro, Daniele Pucci +1
The paper presents a proof of concept to calibrate iCub's skin using vacuum bags. The method's main idea consists in inserting the skin in a vacuum bag, and then decreasing the pre…
Incremental Semiparametric Inverse Dynamics Learning
Raffaello Camoriano, Silvio Traversaro, Lorenzo Rosasco +2
This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based o…