IIT Publications Search

Publications
2024
Dafarra S., Pattacini U., Romualdi G., Rapetti L., Grieco R., Darvish K., Milani G., Valli E., Sorrentino I., Viceconte P.M., Scalzo A., Traversaro S., Sartore C., Elobaid M., Guedelha N., Herron C., Leonessa A., Draicchio F., Metta G., Maggiali M., Pucci D.
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots
Science Robotics, vol. 9, (no. 86)
DOI 10.1126/scirobotics.adh3834 Article Journal
2024
Romualdi G., Viceconte P. M., Moretti L., Sorrentino I., Dafarra S., Traversaro S., Pucci D.
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
IEEE-RAS International Conference on Humanoid Robots
Conference Paper Conference
2024
Sorrentino I., Romualdi G., Pucci D.
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
2024 IEEE International Conference on Robotics and Automation (ICRA)
DOI 10.1109/ICRA57147.2024.10610951 Conference Paper Conference
2024
Sorrentino I., Romualdi G., Pucci D.
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
Proceedings - IEEE International Conference on Robotics and Automation, pp. 13150-13156
DOI 10.1109/ICRA57147.2024.10610951 Conference Paper Conference
2023
Elobaid M., Romualdi G., Nava G., Rapetti L., Omer Mohamed H.A., Pucci D.
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2023-May, pp. 12233-12239
DOI 10.1109/ICRA48891.2023.10161086 Conference Paper Conference
2022
Viceconte P.M., Camoriano R., Romualdi G., Ferigo D., Dafarra S., Traversaro S., Oriolo G., Rosasco L., Pucci D.
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots
IEEE Robotics and Automation Letters, vol. 7, (no. 2), pp. 2779-2786
DOI 10.1109/LRA.2022.3141658 Article Journal
2022
Ramadoss P., Romualdi G., Dafarra S., Traversaro S., Pucci D.
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet
IEEE International Conference on Intelligent Robots and Systems, vol. 2022-October, pp. 6780-6787
DOI 10.1109/IROS47612.2022.9982275 Conference Paper Conference
2022
Dafarra S., Romualdi G., Pucci D.
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
IEEE Transactions on Robotics, vol. 38, (no. 6), pp. 3414-3433
DOI 10.1109/TRO.2022.3183785 Article Journal
2022
Dafarra S., Darvish K., Grieco R., Milani G., Pattacini U., Rapetti L., Romualdi G., Salvi M., Scalzo A., Sorrentino I., Tomè D., Traversaro S., Valli E., Viceconte P. M., Metta G., Maggiali M., Pucci D.
iCub3 Avatar System
arXiv
DOI 10.48550/arXiv.2203.06972 Article in Press Journal
2022
Romualdi G.
Online Control of Humanoid Robot Locomotion
PhD Thesis Book
2022
Romualdi G., Dafarra S., L'Erario G., Sorrentino I., Traversaro S., Pucci D.
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Proceedings - IEEE International Conference on Robotics and Automation, pp. 10412-10419
DOI 10.1109/ICRA46639.2022.9811670 Conference Paper Conference
2022
Romualdi G., Villa N.A., Dafarra S., Pucci D., Stasse O.
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility
IEEE-RAS International Conference on Humanoid Robots, vol. 2022-November, pp. 104-111
DOI 10.1109/Humanoids53995.2022.10000157 Conference Paper Conference
2022
Romualdi G., Villa N. A., Dafarra S., Pucci D., Stasse O.
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility Conference
2022 IEEE-RAS International Conference on Humanoid Robotics (Humanoids)
Conference Paper Conference
2022
L'Erario G., Nava G., Romualdi G., Bergonti F., Razza V., Dafarra S., Pucci D.
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
IEEE-RAS International Conference on Humanoid Robots, vol. 2022-November, pp. 651-658
DOI 10.1109/Humanoids53995.2022.10000241 Conference Paper Conference
2021
Ramadoss P., Romualdi G., Dafarra S., Chavez F.J.A., Traversaro S., Pucci D.
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2021-May, pp. 2904-2910
DOI 10.1109/ICRA48506.2021.9561248 Conference Paper Conference