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"What, not how": Solving an under-actuated insertion task from scratch

Oct 30, 2020
Giulia Vezzani, Michael Neunert, Markus Wulfmeier, Rae Jeong, Thomas Lampe, Noah Siegel, Roland Hafner, Abbas Abdolmaleki, Martin Riedmiller, Francesco Nori


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Learning Dexterous Manipulation from Suboptimal Experts

Oct 16, 2020
Rae Jeong, Jost Tobias Springenberg, Jackie Kay, Daniel Zheng, Yuxiang Zhou, Alexandre Galashov, Nicolas Heess, Francesco Nori


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Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer

Oct 21, 2019
Rae Jeong, Jackie Kay, Francesco Romano, Thomas Lampe, Tom Rothorl, Abbas Abdolmaleki, Tom Erez, Yuval Tassa, Francesco Nori


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Self-Supervised Sim-to-Real Adaptation for Visual Robotic Manipulation

Oct 21, 2019
Rae Jeong, Yusuf Aytar, David Khosid, Yuxiang Zhou, Jackie Kay, Thomas Lampe, Konstantinos Bousmalis, Francesco Nori


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Momentum-Based Topology Estimation of Articulated Objects

Mar 20, 2019
Yeshasvi Tirupachuri, Silvio Traversaro, Francesco Nori, Daniele Pucci

* Accepted to Intelligent Systems 2019 Conference 

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Towards Partner-Aware Humanoid Robot Control Under Physical Interactions

Mar 20, 2019
Yeshasvi Tirupachuri, Gabriele Nava, Claudia Latella, Diego Ferigo, Lorenzo Rapetti, Luca Tagliapietra, Francesco Nori, Daniele Pucci

* Accepted to Intelligent Systems 2019 Conference 

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Simultaneously Learning Vision and Feature-based Control Policies for Real-world Ball-in-a-Cup

Feb 18, 2019
Devin Schwab, Tobias Springenberg, Murilo F. Martins, Thomas Lampe, Michael Neunert, Abbas Abdolmaleki, Tim Hertweck, Roland Hafner, Francesco Nori, Martin Riedmiller

* Videos can be found at https://sites.google.com/view/rss-2019-sawyer-bic/ 

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Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

Dec 03, 2018
Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci

* Submitted to ICRA 2019 

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A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

Jul 14, 2018
Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci

* IROS 2018 

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Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw

Mar 09, 2018
Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori


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Contact Force and Joint Torque Estimation Using Skin

Sep 20, 2017
Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci

* Submitted to ICRA2018 

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A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping

Jul 28, 2017
Stefano Dafarra, Francesco Romano, Gabriele Nava, Francesco Nori


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On-line Joint Limit Avoidance for Torque Controlled Robots by Joint Space Parametrization

Jul 26, 2017
Marie Charbonneau, Francesco Nori, Daniele Pucci

* 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) 
* 8 pages, 4 figures. Submitted to the 2016 IEEE-RAS International Conference on Humanoid Robots 

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An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot

Jul 26, 2017
Marie Charbonneau, Gabriele Nava, Francesco Nori, Daniele Pucci

* manuscript submitted to Humanoids 2017 

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Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis

Jul 17, 2017
Yue Hu, Jorhabib Eljaik, Kevin Stein, Francesco Nori, Katja Mombaur

* 8 pages, presented at IEEE International Conference on Humanoid Robots (Humanoids 2016) 

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Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots

Jul 16, 2017
Gabriele Nava, Francesco Romano, Francesco Nori, Daniele Pucci

* The notation used in the paper can be found at: http://wiki.icub.org/codyco/dox/html/dynamics_notation.html 

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Momentum Control of an Underactuated Flying Humanoid Robot

Jun 03, 2017
Daniele Pucci, Silvio Traversaro, Francesco Nori


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A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot

May 30, 2017
Stefano Dafarra, Francesco Romano, Francesco Nori


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Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot

May 30, 2017
Stefano Dafarra, Francesco Romano, Francesco Nori


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The Static Center of Pressure Sensitivity: a further Criterion to assess Contact Stability and Balancing Controllers

May 29, 2017
Francesco Romano, Daniele Pucci, Silvio Traversaro, Francesco Nori


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Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations

May 12, 2017
Francesco Nori

* 8 pages, 2 figure, conference RCAR 2017 

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Momentum Control of Humanoid Robots with Series Elastic Actuators

Mar 06, 2017
Gabriele Nava, Daniele Pucci, Francesco Nori


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Walking on Partial Footholds Including Line Contacts with the Humanoid Robot Atlas

Jan 12, 2017
Georg Wiedebach, Sylvain Bertrand, Tingfan Wu, Luca Fiorio, Stephen McCrory, Robert Griffin, Francesco Nori, Jerry Pratt

* in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) 

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On Centroidal Dynamics and Integrability of Average Angular Velocity

Jan 10, 2017
Alessandro Saccon, Silvio Traversaro, Francesco Nori, Henk Nijmeijer

* 8 pages, accepted for IEEE Robotics and Automation Letters (RA-L) 

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A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems

Jan 04, 2017
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori


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Model Based In Situ Calibration of Six Axis Force Torque Sensors

Oct 27, 2016
Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci, Francesco Nori

* 6 pages, 10 figures, 3 tables 

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Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds

Oct 27, 2016
Silvio Traversaro, Stanislas Brossette, Adrien Escande, Francesco Nori

* 6 pages, published in Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on 

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Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots

Oct 21, 2016
Daniele Pucci, Gabriele Nava, Francesco Nori

* Accepted at IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS). 2016 

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Skin Normal Force Calibration Using Vacuum Bags

Sep 30, 2016
Joan Kangro, Silvio Traversaro, Daniele Pucci, Francesco Nori

* 7 pages 

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Incremental Semiparametric Inverse Dynamics Learning

Jan 18, 2016
Raffaello Camoriano, Silvio Traversaro, Lorenzo Rosasco, Giorgio Metta, Francesco Nori


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