65 citations · 398 across the 34 of their papers we have counts for
4 papers · 1 filter
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro +2
It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F…
Derivative-free online learning of inverse dynamics models
Diego Romeres, Mattia Zorzi, Raffaello Camoriano +2
This paper discusses online algorithms for inverse dynamics modelling in robotics. Several model classes including rigid body dynamics (RBD) models, data-driven models and semipara…
Momentum-Based Topology Estimation of Articulated Objects
Yeshasvi Tirupachuri, Silvio Traversaro, Francesco Nori +1
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between th…
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
Stefano Dafarra, Gabriele Nava, Marie Charbonneau +8
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of thr…