Andrea Del Prete

Gastone Pietro Rosati Papini

Justin Carpentier

Proceedings of the 6th Annual Learning for Dynamics & Control Conference, 2024

Receding-Constraint Model Predictive Control using a Learned Approximate Control-Invariant Set.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

Reactive Landing Controller for Quadruped Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., November, 2023

VBOC: Learning the Viability Boundary of a Robot Manipulator Using Optimal Control.

[BibT_eX]

[DOI]

Asia La Rocca

Matteo Saveriano

IEEE Robotics Autom. Lett., November, 2023

CACTO: Continuous Actor-Critic With Trajectory Optimization - Towards Global Optimality.

[BibT_eX]

[DOI]

Gastone Pietro Rosati Papini

Elisa Alboni

IEEE Robotics Autom. Lett., June, 2023

Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots.

[BibT_eX]

[DOI]

Sensors, February, 2023

Efficient Reinforcement Learning for Jumping Monopods.

[BibT_eX]

[DOI]

CoRR, 2023

Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty.

[BibT_eX]

[DOI]

CoRR, 2023

Robust Satisfaction of Joint Position and Velocity Bounds in Discrete-Time Acceleration Control of Robot Manipulators.

[BibT_eX]

[DOI]

Erik Zanolli

IROS, 2023

CLIO: a Novel Robotic Solution for Exploration and Rescue Missions in Hostile Mountain Environments.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Modeling the Human Gait Phases by Using Bèzier Curves to Generate Walking Trajectories for Lower-Limb Exoskeletons.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Rehabilitation Robotics, 2023

2022

Robust Walking Based on MPC With Viability Guarantees.

[BibT_eX]

[DOI]

Mohammad Hasan Yeganegi

IEEE Trans. Robotics, 2022

Simulation Aided Co-Design for Robust Robot Optimization.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

CACTO: Continuous Actor-Critic with Trajectory Optimization - Towards global optimality.

[BibT_eX]

[DOI]

Gastone Pietro Rosati Papini

CoRR, 2022

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2022

2021

Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

Fast and Accurate Multi-Body Simulation with Stiff Viscoelastic Contacts.

[BibT_eX]

[DOI]

CoRR, 2021

Exploring the Limits of a Redundant Actuation System Through Co-Design.

[BibT_eX]

[DOI]

Gabriel Bravo-Palacios

Marco Fontana

IEEE Access, 2021

Computational design of energy-efficient legged robots: Optimizing for size and actuators.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Stochastic and Robust MPC for Bipedal Locomotion: A Comparative Study on Robustness and Performance.

[BibT_eX]

[DOI]

Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

2020

One Robot for Many Tasks: Versatile Co-Design Through Stochastic Programming.

[BibT_eX]

[DOI]

Gabriel Bravo-Palacios

IEEE Robotics Autom. Lett., 2020

Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots.

[BibT_eX]

[DOI]

Michele Focchi

Daniele Pucci

Frontiers Robotics AI, 2020

Robust walking based on MPC with viability-based feasibility guarantees.

[BibT_eX]

[DOI]

Mohammad Hasan Yeganegi

CoRR, 2020

SL1M: Sparse L1-norm Minimization for contact planning on uneven terrain.

[BibT_eX]

[DOI]

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Robust Humanoid Locomotion Using Trajectory Optimization and Sample-Efficient Learning.

[BibT_eX]

[DOI]

Mohammad Hasan Yeganegi

Proceedings of the 19th IEEE-RAS International Conference on Humanoid Robots, 2019

2018

An Efficient Acyclic Contact Planner for Multiped Robots.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2018

Zero Step Capturability for Legged Robots in Multicontact.

[BibT_eX]

[DOI]

Steve Tonneau

IEEE Trans. Robotics, 2018

2PAC: Two-Point Attractors for Center Of Mass Trajectories in Multi-Contact Scenarios.

[BibT_eX]

[DOI]

ACM Trans. Graph., 2018

Joint Position and Velocity Bounds in Discrete-Time Acceleration/Torque Control of Robot Manipulators.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

On Time Optimization of Centroidal Momentum Dynamics.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Regularized Hierarchical Differential Dynamic Programming.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2017

High-slope terrain locomotion for torque-controlled quadruped robots.

[BibT_eX]

[DOI]

Auton. Robots, 2017

Online payload identification for quadruped robots.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

A kinodynamic steering-method for legged multi-contact locomotion.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems.

[BibT_eX]

[DOI]

Proceedings of the First IEEE International Conference on Robotic Computing, 2017

Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground.

[BibT_eX]

[DOI]

Nirmal Giftsun

Florent Lamiraux

Proceedings of the 14th International Conference on Informatics in Control, 2017

TALOS: A new humanoid research platform targeted for industrial applications.

[BibT_eX]

[DOI]

Olivier Stasse

Thomas Flayols

Rohan Budhiraja

Kevin Giraud-Esclasse

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

Experimental evaluation of simple estimators for humanoid robots.

[BibT_eX]

[DOI]

Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017

2016

Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2016

Implementing Torque Control with High-Ratio Gear Boxes and Without Joint-Torque Sensors.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2016

Fast algorithms to test robust static equilibrium for legged robots.

[BibT_eX]

[DOI]

Steve Tonneau

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2015

Prioritized motion-force control of constrained fully-actuated robots: "Task Space Inverse Dynamics".

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2015

iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts.

[BibT_eX]

[DOI]

Frontiers Robotics AI, 2015

Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Whole-body model-predictive control applied to the HRP-2 humanoid.

[BibT_eX]

[DOI]

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Inertial parameters identification and joint torques estimation with proximal force/torque sensing.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Prioritized optimal control: A hierarchical differential dynamic programming approach.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

2014

Partial force control of constrained floating-base robots.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Prioritized optimal control.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

Inertial parameter identification including friction and motor dynamics.

[BibT_eX]

[DOI]

Proceedings of the 13th IEEE-RAS International Conference on Humanoid Robots, 2013

Perception during interaction is not based on statistical context.

[BibT_eX]

[DOI]

Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2013

2012

Control of contact forces: The role of tactile feedback for contact localization.

[BibT_eX]

[DOI]

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

2011

Skin spatial calibration using force/torque measurements.

[BibT_eX]

[DOI]