Search Results - "Romualdi, Giulio"

Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion by Dafarra, Stefano, Romualdi, Giulio, Pucci, Daniele

“…This article presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction…”
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Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control by Romualdi, Giulio, Dafarra, Stefano, Pucci, Daniele

“…This letter presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum…”
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Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet by Ramadoss, Prashanth, Romualdi, Giulio, Dafarra, Stefano, Traversaro, Silvio, Pucci, Daniele

“…Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial…”
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ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots by Viceconte, Paolo Maria, Camoriano, Raffaello, Romualdi, Giulio, Ferigo, Diego, Dafarra, Stefano, Traversaro, Silvio, Oriolo, Giuseppe, Rosasco, Lorenzo, Pucci, Daniele

“…Human-like trajectory generation and footstep planning represent challenging problems in humanoid robotics. Recently, research in computer graphics…”
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XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration by Cardenas-Perez, Carlos, Romualdi, Giulio, Elobaid, Mohamed, Dafarra, Stefano, L'Erario, Giuseppe, Traversaro, Silvio, Morerio, Pietro, Bue, Alessio Del, Pucci, Daniele

“…This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for whole-body autonomous humanoid robots…”
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UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots by Sorrentino, Ines, Romualdi, Giulio, Pucci, Daniele

“…This paper proposes a novel sensor fusion based on Unscented Kalman Filtering for the online estimation of joint-torques of humanoid robots without…”
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UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots by Sorrentino, Ines, Romualdi, Giulio, Pucci, Daniele

“…This paper proposes a novel sensor fusion based on Unscented Kalman Filtering for the online estimation of joint-torques of humanoid robots without…”
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Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment by Romualdi, Giulio, Dafarra, Stefano, L'Erario, Giuseppe, Sorrentino, Ines, Traversaro, Silvio, Pucci, Daniele

“…This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller…”
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Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion by Dafarra, Stefano, Romualdi, Giulio, Pucci, Daniele

“…The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction…”
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Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives by Sorrentino, Ines, Romualdi, Giulio, Bergonti, Fabio, ĽErario, Giuseppe, Traversaro, Silvio, Pucci, Daniele

“…This paper presents a scalable method for friction identification in robots equipped with electric motors and high-ratio harmonic drives, utilizing…”
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Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment by Romualdi, Giulio, Viceconte, Paolo Maria, Moretti, Lorenzo, Sorrentino, Ines, Dafarra, Stefano, Traversaro, Silvio, Pucci, Daniele

“…This paper presents a three-layered architecture that enables stylistic locomotion with online contact location adjustment. Our method combines an…”
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Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control by Romualdi, Giulio, Dafarra, Stefano, Pucci, Daniele

“…IEEE Robotics and Automation Letters ( Volume: 6, Issue: 3, July 2021) This manuscript presents a model of compliant contacts for time-critical humanoid robot…”
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Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques by Sartore, Carlotta, Rando, Marco, Romualdi, Giulio, Molinari, Cesare, Rosasco, Lorenzo, Pucci, Daniele

“…Developing sophisticated control architectures has endowed robots, particularly humanoid robots, with numerous capabilities. However, tuning these…”
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Remote telepresence over large distances via robot avatars: case studies by Elobaid, Mohamed, Dafarra, Stefano, Ranjbari, Ehsan, Romualdi, Giulio, Chaki, Tomohiro, Kawakami, Tomohiro, Yoshiike, Takahide, Pucci, Daniele

“…This paper discusses the necessary considerations and adjustments that allow a recently proposed avatar system architecture to be used with different robotic…”
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Whole-Body Geometric Retargeting for Humanoid Robots by Darvish, Kourosh, Tirupachuri, Yeshasvi, Romualdi, Giulio, Rapetti, Lorenzo, Ferigo, Diego, Chavez, Francisco Javier Andrade, Pucci, Daniele

“…Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength,…”
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Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach by Dafarra, Stefano, Romualdi, Giulio, Metta, Giorgio, Pucci, Daniele

“…In this paper, we describe a planner capable of generating walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot…”
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A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots by Romualdi, Giulio, Dafarra, Stefano, Hu, Yue, Pucci, Daniele

“…This paper contributes towards the development and comparison of Divergent-Component-of-Motion (DCM) based control architectures for humanoid robot locomotion…”
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Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots by Elobaid, Mohamed, Turrisi, Giulio, Rapetti, Lorenzo, Romualdi, Giulio, Dafarra, Stefano, Kawakami, Tomohiro, Chaki, Tomohiro, Yoshiike, Takahide, Semini, Claudio, Pucci, Daniele

“…Nonlinear model predictive locomotion controllers based on the reduced centroidal dynamics are nowadays ubiquitous in legged robots. These schemes, even if…”
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Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility by Romualdi, Giulio, Villa, Nahuel A., Dafarra, Stefano, Pucci, Daniele, Stasse, Olivier

“…This article presents a whole-body controller for humanoid robots affected by concentrated link flexibility. We characterize the link flexibility by…”
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XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration by Cardenas-Perez, Carlos, Romualdi, Giulio, Elobaid, Mohamed, Dafarra, Stefano, L'Erario, Giuseppe, Traversaro, Silvio, Morerio, Pietro, Del Bue, Alessio, Pucci, Daniele

“…This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for a whole-body autonomous humanoid robot…”
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