IIT Publications Search

2022
Ruscelli F., Laurenzi A., Tsagarakis N.G., Mingo Hoffman E.
Horizon: A Trajectory Optimization Framework for Robotic Systems
Frontiers Robotics AI, vol. 9
2022
Torielli D., Muratore L., Laurenzi A., Tsagarakis N.
TelePhysicalOperation: Remote Robot Control Based on a Virtual "Marionette" Type Interaction Interface
IEEE Robotics and Automation Letters, vol. 7, (no. 2), pp. 2479-2486
2021
Polverini M.P., Hoffman E.M., Laurenzi A., Tsagarakis N.G.
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2021-May, pp. 8359-8365
2021
Zhao X., You Y., Laurenzi A., Kashiri N., Tsagarakis N.G.
Locomotion Adaptation in Heavy Payload Transportation Tasks with the Quadruped Robot CENTAURO
IEEE International Conference on Robotics and Automation
2021
Mingo-Hoffman E., Parigi-Polverini M., Laurenzi A., Tsagarakis N.G.
Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers
IEEE International Conference on Robotics and Automation
2021
Rossini L., Hoffman E.M., Laurenzi A., Tsagarakis N.G.
NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints
Frontiers Robotics AI, vol. 8
2021
Ruscelli F., Laurenzi A., Mingo Hoffman E., Tsagarakis N.G.
Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots
Frontiers Robotics AI, vol. 8
2021
Belli I., Polverini M.P., Laurenzi A., Hoffman E.M., Rocco P., Tsagarakis N.G.
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
IEEE-RAS International Conference on Humanoid Robots, vol. 2021-July, pp. 41-46
2021
Belli I., Parigi-Polverini M., Laurenzi A., Mingo-Hoffman E., Rocco P., Tsagarakis N.G.
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
IEEE-RAS International Conference on Humanoid Robots, pp. 41-46
Article Conference
2021
Romiti E., Malzahn J., Kashiri N., Iacobelli F., Ruzzon M., Laurenzi A., Mingo-Hoffman E., Muratore L., Margan A., Baccelliere L., Cordasco S., Tsagarakis N.G.
Toward a Plug-and-Work Reconfigurable Cobot
IEEE/ASME Transactions on Mechatronics
2021
Muratore L., Laurenzi A., Tsagarakis N. G.
XBot: A Cross-Robot Software Framework for Real-Time Control
Robotics Software Design and Engineering, Publisher: IntechOpen
2020
Ruscelli F., Polverini M.P., Laurenzi A., Hoffman E.M., Tsagarakis N.G.
A multi-contact motion planning and control strategy for physical interaction tasks using a humanoid robot
IEEE International Conference on Intelligent Robots and Systems, pp. 3869-3876
DOI 10.1109/IROS45743.2020.9340745 Conference Paper Conference
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
Conference Paper Conference
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