iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots

Stefano Dafarra, Ugo Pattacini, Giulio Romualdi, +18

Science Robotics

Avatar AnimationEngineeringIcub TeamIntelligent SystemsVirtual Human +19

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

Giulio Romualdi, Stefano Dafarra, Giuseppe L’Erario, +3

2022 International Conference on Robotics and Automation (ICRA)

Robot KinematicsEngineeringCentroidal DynamicsMotor ControlAdvanced Motion Control +16

Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics

Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, +4

Algorithms

Robot KinematicsEngineering3D Pose EstimationField RoboticsAdvanced Motion Control +21

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction

Francesco Romanò, Gabriele Nava, Morteza Azad, +15

IEEE Robotics and Automation Letters

Building BlocksHuman-robot Collaborative AssemblyIcub Humanoid RobotEngineeringIntelligent Robotics +19

Analysis and Perspectives on the ANA Avatar XPRIZE Competition

Kris Hauser, Eleanor Watson, Joonbum Bae, +24

International Journal of Social Robotics

Avatar AnimationEngineeringVirtual RealityDesignUser Experience +5

Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot

Stefano Dafarra, Francesco Romanò, Francesco Nori

Robot KinematicsIcub Humanoid RobotEngineeringField RoboticsMotor Control +16

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

Stefano Dafarra, Giulio Romualdi, Daniele Pucci

IEEE Transactions on Robotics

Robot KinematicsEngineeringRobot PlanningCentroidal DynamicsMotor Control +25

A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots

Giulio Romualdi, Stefano Dafarra, Yue Hu, +4

International Journal of Humanoid Robotics

Robot KinematicsEngineeringField RoboticsTorque-controlled Humanoid RobotsMotor Control +19

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

Paolo Maria Viceconte, Raffaello Camoriano, Giulio Romualdi, +6

IEEE Robotics and Automation Letters

Artificial IntelligenceEngineeringIntelligent RoboticsIntelligent SystemsKinesiology +20

A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

Stefano Dafarra, Gabriele Nava, Marie Charbonneau, +8

Robot KinematicsEngineeringMotor ControlIntelligent SystemsOnline Predictive Planning +20