IIT Publications Search

Pubblicazioni
2024
Dafarra S., Pattacini U., Romualdi G., Rapetti L., Grieco R., Darvish K., Milani G., Valli E., Sorrentino I., Viceconte P.M., Scalzo A., Traversaro S., Sartore C., Elobaid M., Guedelha N., Herron C., Leonessa A., Draicchio F., Metta G., Maggiali M., Pucci D.
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots
Science Robotics, vol. 9, (no. 86)
DOI 10.1126/scirobotics.adh3834 Article Journal
2024
Romualdi G., Viceconte P. M., Moretti L., Sorrentino I., Dafarra S., Traversaro S., Pucci D.
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
IEEE-RAS International Conference on Humanoid Robots
Conference Paper Conference
2024
Cardenas-Perez C., Romualdi G., Elobaid M., Dafarra S., L'Erario G., Traversaro S., Morerio P., Bue A.D., Pucci D.
XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
IEEE Robotics and Automation Letters
DOI 10.1109/LRA.2024.3495577 Article Journal
2023
Sartore C., Rapetti L., Bergonti F., Dafarra S., Traversaro S., Pucci D.
Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization
IEEE-RAS International Conference on Humanoid Robots
DOI 10.1109/Humanoids57100.2023.10375237 Conference Paper Conference
2022
Viceconte P.M., Camoriano R., Romualdi G., Ferigo D., Dafarra S., Traversaro S., Oriolo G., Rosasco L., Pucci D.
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots
IEEE Robotics and Automation Letters, vol. 7, (no. 2), pp. 2779-2786
DOI 10.1109/LRA.2022.3141658 Article Journal
2022
Ramadoss P., Romualdi G., Dafarra S., Traversaro S., Pucci D.
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet
IEEE International Conference on Intelligent Robots and Systems, vol. 2022-October, pp. 6780-6787
DOI 10.1109/IROS47612.2022.9982275 Conference Paper Conference
2022
Dafarra S., Romualdi G., Pucci D.
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
IEEE Transactions on Robotics, vol. 38, (no. 6), pp. 3414-3433
DOI 10.1109/TRO.2022.3183785 Article Journal
2022
Ramadoss P., Rapetti L., Tirupachuri Y., Grieco R., Milani G., Valli E., Dafarra S., Traversaro S., Pucci D.
Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
IEEE-RAS International Conference on Humanoid Robots, vol. 2022-November, pp. 364-369
DOI 10.1109/Humanoids53995.2022.10000199 Conference Paper Conference
2022
Dafarra S., Darvish K., Grieco R., Milani G., Pattacini U., Rapetti L., Romualdi G., Salvi M., Scalzo A., Sorrentino I., Tomè D., Traversaro S., Valli E., Viceconte P. M., Metta G., Maggiali M., Pucci D.
iCub3 Avatar System
arXiv
DOI 10.48550/arXiv.2203.06972 Article in Press Journal
2022
Romualdi G., Dafarra S., L'Erario G., Sorrentino I., Traversaro S., Pucci D.
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Proceedings - IEEE International Conference on Robotics and Automation, pp. 10412-10419
DOI 10.1109/ICRA46639.2022.9811670 Conference Paper Conference
2022
Romualdi G., Villa N.A., Dafarra S., Pucci D., Stasse O.
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility
IEEE-RAS International Conference on Humanoid Robots, vol. 2022-November, pp. 104-111
DOI 10.1109/Humanoids53995.2022.10000157 Conference Paper Conference
2022
Romualdi G., Villa N. A., Dafarra S., Pucci D., Stasse O.
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility Conference
2022 IEEE-RAS International Conference on Humanoid Robotics (Humanoids)
Conference Paper Conference
2022
Ramadoss P., Rapetti L., Tirupachuri Y., Grieco R., Milani G., Valli E., Dafarra S., Traversaro S., Pucci D.
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
2022 IEEE-RAS International Conference on Humanoid Robotics (Humanoids)
Conference Paper Conference
2022
L'Erario G., Nava G., Romualdi G., Bergonti F., Razza V., Dafarra S., Pucci D.
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
IEEE-RAS International Conference on Humanoid Robots, vol. 2022-November, pp. 651-658
DOI 10.1109/Humanoids53995.2022.10000241 Conference Paper Conference
2021
Ramadoss P., Romualdi G., Dafarra S., Chavez F.J.A., Traversaro S., Pucci D.
DILIGENT: A Proprioceptive Floating Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
IEEE International Conference on Robotics and Automation (ICRA)
Conference Paper Conference