Publications video - Button - Accordion/Modal Media Grid

Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization, IEEE HUMANOIDS, 2023
Go to publication

Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots, IEEE HUMANOIDS, 2023
Go to publication

Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot, IEEE ICRA, 2023
Go to publication

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Force Parametrization, IEEE ICRA, 2023
Go to publication

A Control Approach for Human Robot Ergonomic Payload Lifting, IEEE ICRA, 2023
Go to publication

Torque Control with Joints Position and Velocity Limits Avoidance, IEEE ICRA, 2023
Go to publication

Simultaneous Action Recognition & Human Whole-Body Motion & Dynamics Prediction from Wearable Sensor, IEEE Humanoids, 2022
Go to publication

Whole-Body Trajectory Optimization for Robot Multimodal Locomotion, IEEE Humanoids, 2022
Go to publication

Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting, IEEE Humanoids, 2022
Go to publication

Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter, IEEE Humanoids, 2022
Go to publication

Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility, IEEE Humanoids, 2022
Go to publication

Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion, IEEE Transactions on Robotics, 2022
Go to publication

Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots, IEEE Transactions on Robotics, 2022
Go to publication

An Integrated Programmable CPG with Bounded Output, IEEE Transactions on Automatic Control, 2022
Go to publication

Nonlinear Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines, IEEE ICRA, 2022
Go to publication

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots, IEEE ICRA, 2022
Go to publication

Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment, IEEE ICRA, 2022
Go to publication

ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots, IEEE Robotics and Automation Letters, 2022
Go to publication

Analysis of Human Whole-body Joint Torques during Overhead Work with a Passive Exoskeleton, IEEE Transactions on Human-Machine Systems, 2021
Go to publication

Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots,IEEE Robotics and Automation Letters, 2021
Go to publication

Online Non-Collocated Estimation of Payload and Articular Stress for Human Ergonomy Assessment, IEEE Access, 2021
Go to publication

DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots Using EKF on Matrix Lie Groups, IEEE ICRA, 2021
Go to publication

Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control, Robotics Automation Letters (RA-L), 2021
Go to publication

Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback, IEEE Transaction on Robotics, 2021
Go to publication

Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization, IEEE ICRA, 2021
Go to publication

In-Situ Translational Hand-Eye Calibration of Laser Profile Sensors Using Arbitrary Objects, IEEE ICRA, 2021
Go to publication

Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics, MDPI Algorithms, 2020
Go to publication

Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas, IEEE/RSJ IROS, 2020
Go to publication

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics, IEEE Robotics and Automation Letters (RA-L), 2020
Go to publication

On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning, IEEE Robotics and Automation Letters (RA-L) and IEEE Humanoids, 2020
Go to publication

Direct force feedback control and online multi-task optimization for aerial manipulators, IEEE Robotics and Automation Letters (RA-L), 2020
Go to publication

Whole-Body Geometric Retargeting for Humanoid Robots, IEEE Humanoids, 2019
Go to publication

Torque and Velocity Controllers to Perform Jumps With a Humanoid Robot: Theory and Implementation on the iCub Robot, IEEE ICRA, 2019
Go to publication

Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots, IEEE Humanoids, 2019
Go to publication

A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots, IEEE Humanoids, 2018
Go to publication

Robust Real-time Whole-Body Motion Retargeting from Human to Humanoid, IEEE Humanoids, 2018
Go to publication