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11/23/2022
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
The general problem of planning feasible trajectories for multimodal rob...
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07/07/2022
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
The paper presents a planner to generate walking trajectories by using t...
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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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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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05/30/2021
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
This manuscript presents a model of compliant contacts for time-critical...
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04/25/2020
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas
Performing large step-ups is a challenging task for a humanoid robot. It...
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04/16/2020
Predictive Whole-Body Control of Humanoid Robot Locomotion
Humanoid robots are machines built with an anthropomorphic shape. Despit...
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03/10/2020
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach
In this paper, we describe a planner capable of generating walking traje...
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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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09/23/2019
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots
We present a computationally efficient method for online planning of bip...
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09/06/2018
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots
This paper contributes towards the development and comparison of Diverge...
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07/14/2018