IIT Publications Search

2020
Ruscelli F., Parigi Polverini M., Laurenzi A., Mingo Hoffman E., Tsagarakis G. N.
A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3869-3876
2020
Hoffman E.M., Polverini M.P., Laurenzi A., Tsagarakis N.G.
A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots
IEEE Robotics and Automation Letters, vol. 5, (no. 1), pp. 235-242
2020
Polverini M.P., Laurenzi A., Hoffman E.M., Ruscelli F., Tsagarakis N.G.
Multi-Contact Heavy Object Pushing with a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator
IEEE Robotics and Automation Letters, vol. 5, (no. 2), pp. 859-866
2020
Klamt T., Schwarz M., Lenz C., Baccelliere L., Buongiorno D., Cichon T., DiGuardo A., Droeschel D., Gabardi M., Kamedula M., Kashiri N., Laurenzi A., Leonardis D., Muratore L., Pavlichenko D., Periyasamy A.S., Rodriguez D., Solazzi M., Frisoli A., Gustmann M., Rossmann J., Suss U., Tsagarakis N.G., Behnke S.
Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance
Journal of Field Robotics, vol. 37, (no. 5), pp. 889-919
2020
Muratore L., Laurenzi A., Mingo Hoffman E., Tsagarakis N.
The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective
IEEE Robotics and Automation Magazine
2019
Laurenzi A., Mingo Hoffman E., Parigi Polverini M., Tsagarakis N.
An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO
IEEE Robotics and Automation Letters
2019
Muratore L., Laurenzi A., Tsagarakis N.G.
A self-modulated impedance multimodal interaction framework for human-robot collaboration
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, pp. 4998-5004
2019
Laurenzi A., Hoffman E.M., Muratore L., Tsagarakis N.G.
CartesI/O: A ROS based real-time capable cartesian control framework
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, pp. 591-596
2019
Kashiri N., Baccelliere L., Muratore L., Laurenzi A., Ren Z., Hoffman E.M., Kamedula M., Rigano G.F., Malzahn J., Cordasco S., Guria P., Margan A., Tsagarakis N.G.
CENTAURO: A hybrid locomotion and high power resilient manipulation platform
IEEE Robotics and Automation Letters, vol. 4, (no. 2), pp. 1595-1602
2019
Klamt T., Kamedula M., Karaoguz H., Kashiri N., Laurenzi A., Lenz C., Leonardis D., Mingo Hoffman E., Muratore L., Pavlichenko D., Porcini F., Rodriguez D., Ren Z., Schilling F., Schwarz M., Solazzi M., Felsberg M., Frisoli A., Gustmann M., Jensfelt P., Nordberg K., Rossmann J., Baccelliere L., Suess U., Tsagarakis N.G., Behnke S., Chen X., Chiaradia D., Cichon T., Gabardi M., Guria P., Holmquist K.
Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System
IEEE Robotics and Automation Magazine, vol. 26, (no. 4), pp. 59-72
2019
Rigano G.F., Muratore L., Laurenzi A., Hoffman E.M., Tsagarakis N.G.
mixed real-time robot hardware abstraction layer (R-HAL)
Robotic Intelligence, vol. 2, pp. 153-160, Publisher: World Scientific Publishing Co.
2019
Polverini M.P., Hoffman E.M., Laurenzi A., Tsagarakis N.G.
Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids
IEEE Robotics and Automation Letters, vol. 4, (no. 2), pp. 1117-1124
2019
Ruscelli F., Laurenzi A., Hoffman E.M., Tsagarakis N.G.
Synchronizing Virtual Constraints and Preview Controller: A Walking Pattern Generator for the Humanoid Robot COMAN+
IEEE International Conference on Intelligent Robots and Systems, pp. 3876-3881
2019
Suryamurthy V., Raghavan V.S., Laurenzi A., Tsagarakis N.G., Kanoulas D.
Terrain Segmentation and Roughness Estimation using RGB Data: Path Planning Application on the CENTAURO Robo
IEEE-RAS International Conference on Humanoid Robots (Humanoids)
2019
Suryamurthy V., Raghavan V.S., Laurenzi A., Tsagarakis N.G., Kanoulas D.
Terrain segmentation and roughness estimation using rgb data: Path planning application on the centauro robot
IEEE-RAS International Conference on Humanoid Robots, vol. 2019-October, pp. 289-296