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Whole-Body Trajectory Optimization for Robot Multimodal Locomotion


Nov 23, 2022
Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci

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* Paper accepted in Humanoids 2022 

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Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion


Jul 07, 2022
Stefano Dafarra, Giulio Romualdi, Daniele Pucci

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* It is an evolved paper of the conference version available at arXiv:2003.04633. Part of the results have been presented in the first author Ph.D. thesis available at arXiv:2004.07699 

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Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter


May 16, 2022
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

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An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet


May 16, 2022
Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

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* Submitted to RA-L 

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iCub3 Avatar System


Mar 14, 2022
Stefano Dafarra, Kourosh Darvish, Riccardo Grieco, Gianluca Milani, Ugo Pattacini, Lorenzo Rapetti, Giulio Romualdi, Mattia Salvi, Alessandro Scalzo, Ines Sorrentino, Davide Tomè, Silvio Traversaro, Enrico Valli, Paolo Maria Viceconte, Giorgio Metta, Marco Maggiali, Daniele Pucci

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Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment


Mar 10, 2022
Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci

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* ICRA 2022 
* Paper accepted in ICRA 2022 

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DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups


May 31, 2021
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci

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* Accepted to the IEEE International Conference on Robotics and Automation (ICRA) 2021 

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Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control


May 30, 2021
Giulio Romualdi, Stefano Dafarra, Daniele Pucci

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* IEEE Robotics and Automation Letters ( Volume: 6, Issue: 3, July 2021) 

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Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas


Apr 25, 2020
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry Pratt

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* This article has been included in the first author's PhD thesis arXiv:2004.07699 

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Predictive Whole-Body Control of Humanoid Robot Locomotion


Apr 16, 2020
Stefano Dafarra

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