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Publications

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

M. Elobaid, G. Romualdi, G. Nava, L. Rapetti, H. Awadalla Omer Mohamed, D. Pucci

IEEE ICRA | 06/2023

A Control Approach for Human-Robot Ergonomic Payload Lifting

L. Rapetti, C. Sartore, M. Elobaid, Y. Tirupachuri, F. Draicchio, T. Kawakami, T. Yoshiike, and D. Pucci

IEEE ICRA | 06/2023

Teleoperation of Humanoid Robots: A Survey

Kourosh Darvish, Luigi Penco, Joao Ramos, Rafael Cisneros, Jerry Pratt, Eiichi Yoshida, Serena Ivaldi, and Daniele Pucci

IEEE Transactions on Robotics | 2023

Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting

Carlotta Sartore; Lorenzo Rapetti; Daniele Pucci

IEEE International Conference on Humanoid Robots | 11/2022

Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter

Prashanth Ramadoss; Lorenzo Rapetti; Yeshasvi Tirupachuri; Riccardo Grieco; Gianluca Milani; Enrico Valli; Stefano Dafarra; Silvio Traversaro; Daniele Pucci

IEEE International Conference on Humanoid Robots | 11/2022

Simultaneous Action Recognition and Human Whole-Body Motion and Dynamics Prediction from Wearable Sensors

Kourosh Darvish; Serena Ivaldi; Daniele Pucci

IEEE International Conference on Humanoid Robots | 11/2022

One-Shot Open-Set Skeleton-Based Action Recognition

Stefano Berti, Andrea Rosasco, Michele Colledanchise, Lorenzo Natale

IEEE International Conference on Humanoid Robots | 11/2022

Towards Confidence-guided Shape Completion for Robotic Applications

Andrea Rosasco, Stefano Berti, Fabrizio Bottarel, Michele Colledanchise, Lorenzo Natale

IEEE International Conference on Humanoid Robots | 11/2022

An Optimal Dynamic Control Method for Robots with Virtual Links

Jon Woolfrey; Dikai Liu

IEEE IROS | 10/2022

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

Stefano Dafarra; Giulio Romualdi; Daniele Pucci

IEEE Transactions on Robotics | 08/2022

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

Giulio Romualdi; Stefano Dafarra; Giuseppe L'Erario; Ines Sorrentino; Silvio Traversaro; Daniele Pucci

IEEE - ICRA | 05/2022

ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots

Paolo Maria Viceconte; Raffaello Camoriano; Giulio Romualdi; Diego Ferigo; Stefano Dafarra; Silvio Traversaro; Giuseppe Oriolo; Lorenzo Rosasco; Daniele Pucci

IEEE Robotics and Automation Letters | 01/2022