Pubblicazioni
2024
Guedelha N., Pasandi V., L'Erario G., Traversaro S., Pucci D.
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical Background and Implementation Details
International Journal of Semantic Computing
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)
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
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
2022
Guedelha N., Pasandi V., L'Erario G., Traversaro S., Pucci D.
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
Proceedings - 2022 6th IEEE International Conference on Robotic Computing, IRC 2022, pp. 53-57
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
2022
Bos M., Traversaro S., Pucci D., Saccon A.
EFFICIENT GEOMETRIC LINEARIZATION OF MOVING-BASE RIGID ROBOT DYNAMICS
Journal of Geometric Mechanics, vol. 14, (no. 4), pp. 507-543
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
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
2022
Mohamed H.A.O., Nava G., L'Erario G., Traversaro S., Bergonti F., Fiorio L., Vanteddu P.R., Braghin F., Pucci D.
Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots
IEEE Robotics and Automation Letters, vol. 7, (no. 1), pp. 526-533
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
2022
Ferigo D., Parmiggiani A., Rampone E., Tikhanoff V., Traversaro S., Pucci D., Natale L.
Robot Platforms and Simulators
Cognitive Robotics, Publisher: MIT Press
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
2021
Fischer T., Vollprecht W.K., Traversaro S., Yen S., Herrero C., Milford M.J.
A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems
IEEE Robotics and Automation Magazine
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