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11/17/2022
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground
Physics simulators are widely used in robotics fields, from mechanical d...
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05/16/2022
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Full-body motion estimation of a human through wearable sensing technolo...
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05/16/2022
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet
Extended Kalman filtering is a common approach to achieve floating base ...
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04/11/2022
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics
The linearization of the equations of motion of a robotics system about ...
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03/14/2022
iCub3 Avatar System
We present an avatar system that enables a human operator to visit a rem...
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03/09/2022
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
This paper presents a Non-Linear Model Predictive Controller for humanoi...
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05/31/2021
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
This paper presents a contact-aided inertial-kinematic floating base est...
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04/29/2021
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning
Balancing and push-recovery are essential capabilities enabling humanoid...
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03/23/2021
A Plenum-Based Calibration Device for Tactile Sensor Arrays
In modern robotic applications, tactile sensor arrays (i.e., artificial ...
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03/22/2021
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Hand-eye calibration of laser profile sensors is the process of extracti...
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11/27/2019
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
This paper contributes towards the benchmarking of control architectures...
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11/05/2019
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning
In this paper we present Gym-Ignition, a new framework to create reprodu...
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09/29/2019
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics
The paper contributes towards the modeling, identification, and control ...
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06/12/2019
Identification of Motor Parameters on Coupled Joints
The estimation of the motor torque and friction parameters are crucial f...
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06/05/2019
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers
The paper presents a software architecture to optimize the process of pr...
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12/03/2018
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
It is well known that sensors using strain gauges have a potential depen...
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09/13/2018
Derivative-free online learning of inverse dynamics models
This paper discusses online algorithms for inverse dynamics modelling in...
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08/05/2018
Momentum-Based Topology Estimation of Articulated Objects
Articulated objects like doors, drawers, valves, and tools are pervasive...
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07/14/2018
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
A common approach to the generation of walking patterns for humanoid rob...
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01/18/2016