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Stefano Dafarra

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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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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