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 | In Press

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 | In Press
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