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Continuous-Discrete Reinforcement Learning for Hybrid Control in Robotics


Jan 02, 2020
Michael Neunert, Abbas Abdolmaleki, Markus Wulfmeier, Thomas Lampe, Jost Tobias Springenberg, Roland Hafner, Francesco Romano, Jonas Buchli, Nicolas Heess, Martin Riedmiller

* Presented at the 3rd Conference on Robot Learning (CoRL 2019), Osaka, Japan. Video: https://youtu.be/eUqQDLQXb7I 

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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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A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers


Jun 05, 2019
Diego Ferigo, Silvio Traversaro, Francesco Romano, Daniele Pucci


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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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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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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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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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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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Prioritized Optimal Control


Oct 16, 2014
Andrea Del Prete, Francesco Romano, Lorenzo Natale, Giorgio Metta, Giulio Sandini, Francesco Nori

* Pre-print of the paper presented at Robotics and Automation (ICRA), IEEE International Conference on, Hong Kong, China, 2014 

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