Francesco Nori

IEEE Trans. Cogn. Dev. Syst., 2018

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Momentum Control of an Underactuated Flying Humanoid Robot.

[BibT_eX]

[DOI]

Anand Vazhapilli Sureshbabu

IEEE Robotics Autom. Lett., 2018

A Plenum-Based Calibration Device for Tactile Sensor Arrays.

[BibT_eX]

[DOI]

Joan Kangro

Francisco Javier Andrade Chavez

IEEE Robotics Autom. Lett., 2018

Contact Force and Joint Torque Estimation Using Skin.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Towards Partner-Aware Humanoid Robot Control Under Physical Interactions.

[BibT_eX]

[DOI]

CoRR, 2018

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

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Learning Robust Task Priorities of QP-Based Whole-Body Torque-Controllers.

[BibT_eX]

[DOI]

Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018

Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation.

[BibT_eX]

[DOI]

Proceedings of the 2018 IEEE Workshop on Advanced Robotics and its Social Impacts, 2018

2017

Regularized Hierarchical Differential Dynamic Programming.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2017

Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project.

[BibT_eX]

[DOI]

Robotics Auton. Syst., 2017

On Centroidal Dynamics and Integrability of Average Angular Velocity.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot.

[BibT_eX]

[DOI]

Stefano Dafarra

CoRR, 2017

An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot.

[BibT_eX]

[DOI]

CoRR, 2017

Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Real-time Computing and Robotics, 2017

A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot.

[BibT_eX]

[DOI]

Stefano Dafarra

Proceedings of the Advances in Service and Industrial Robotics, 2017

Momentum control of humanoid robots with series elastic actuators.

[BibT_eX]

[DOI]

Gabriele Nava

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

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Skin normal force calibration using vacuum bags.

[BibT_eX]

[DOI]

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw.

[BibT_eX]

[DOI]

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

Safe trajectory optimization for whole-body motion of humanoids.

[BibT_eX]

[DOI]

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

2016

Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing.

[BibT_eX]

[DOI]

Sensors, 2016

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

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2016

The Sensitivity of the Static Center of Pressure as a Criterion to assess Balancing Controllers Performance.

[BibT_eX]

[DOI]

CoRR, 2016

Identification of fully physical consistent inertial parameters using optimization on manifolds.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Stability analysis and design of momentum-based controllers for humanoid robots.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Incremental semiparametric inverse dynamics learning.

[BibT_eX]

[DOI]

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

Grounding speech utterances in robotics affordances: An embodied statistical language model.

[BibT_eX]

[DOI]

Francesca Stramandinoli

Vadim Tikhanoff

Ugo Pattacini

Proceedings of the 2016 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, 2016

Walking on partial footholds including line contacts with the humanoid robot atlas.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Stable bipedal foot planting on uneven terrain through optimal ankle impedance.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Highly dynamic balancing via force control.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Automatic gain tuning of a momentum based balancing controller for humanoid robots.

[BibT_eX]

[DOI]

Gabriele Nava

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Walking of the iCub humanoid robot in different scenarios: Implementation and performance analysis.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Self-calibration of joint offsets for humanoid robots using accelerometer measurements.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

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

[BibT_eX]

[DOI]

Stefano Dafarra

Francisco Javier Andrade Chavez

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Model based in situ calibration of six axis force torque sensors.

[BibT_eX]

[DOI]

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

On-line joint limit avoidance for torque controlled robots by joint space parametrization.

[BibT_eX]

[DOI]

Marie Charbonneau

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Squat motion generation for the humanoid robot iCub with Series Elastic Actuators.

[BibT_eX]

[DOI]

Yue Hu

Katja D. Mombaur

Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016

Design and Control of a Passive Noise Rejecting Variable Stiffness Actuator.

[BibT_eX]

[DOI]

Proceedings of the Biomechanics of Anthropomorphic Systems, 2016

2015

Collocated Adaptive Control of Underactuated Mechanical Systems.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 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

A Generic Testing Framework for Test Driven Development of Robotic Systems.

[BibT_eX]

[DOI]

Proceedings of the Modelling and Simulation for Autonomous Systems, 2015

Simultaneous state and dynamics estimation in articulated structures.

[BibT_eX]

[DOI]

Naveen Kuppuswamy

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

Multimodal sensor fusion for foot state estimation in bipedal robots using the Extended Kalman Filter.

[BibT_eX]

[DOI]

Jorhabib Eljaik

Naveen Kuppuswamy

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

In situ calibration of six-axis force-torque sensors using accelerometer measurements.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 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

A Bayesian approach towards affordance learning in artificial agents.

[BibT_eX]

[DOI]

Francesca Stramandinoli

Vadim Tikhanoff

Ugo Pattacini

Proceedings of the 2015 Joint IEEE International Conference on Development and Learning and Epigenetic Robotics, 2015

2014

The ITALK Project: A Developmental Robotics Approach to the Study of Individual, Social, and Linguistic Learning.

[BibT_eX]

[DOI]

Top. Cogn. Sci., 2014

Understanding Object Weight from Human and Humanoid Lifting Actions.

[BibT_eX]

[DOI]

IEEE Trans. Auton. Ment. Dev., 2014

In Situ Calibration of Six-Axes Force Torque Sensors using Accelerometer Measurements.

[BibT_eX]

[DOI]

CoRR, 2014

Tools for dynamics simulation of robots: a survey based on user feedback.

[BibT_eX]

[DOI]

Serena Ivaldi

Vincent Padois

CoRR, 2014

Stiction Compensation in Agonist-Antagonist Variable Stiffness Actuators.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems X, 2014

Yarp Based Plugins for Gazebo Simulator.

[BibT_eX]

[DOI]

Proceedings of the Modelling and Simulation for Autonomous Systems, 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

Exploiting global force torque measurements for local compliance estimation in tactile arrays.

[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

Developmental changes in children understanding robotic actions: The case of lifting.

[BibT_eX]

[DOI]

Proceedings of the 4th International Conference on Development and Learning and on Epigenetic Robotics, 2014

Communicative lifting actions in human-humanoid interaction.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Tools for simulating humanoid robot dynamics: A survey based on user feedback.

[BibT_eX]

[DOI]

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, 2014

Development of perception of weight from human or robot lifting observation.

[BibT_eX]

[DOI]

Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction, 2014

Control of a two-DoF manipulator equipped with a pnr-variable stiffness actuator.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Symposium on Intelligent Control, 2014

Control of physical interaction through tactile and force sensing during visually guided reaching.

[BibT_eX]

[DOI]

Proceedings of the 2014 IEEE International Symposium on Intelligent Control, 2014

2013

Muscle synergies in neuroscience and robotics: from input-space to task-space perspectives.

[BibT_eX]

[DOI]

Frontiers Comput. Neurosci., 2013

Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems IX, Technische Universität Berlin, Berlin, Germany, June 24, 2013

Model of cyclotorsion in a tendon driven eyeball: Theoretical model and qualitative evaluation on a robotic platform.

[BibT_eX]

[DOI]

Giulio Sandini

Giorgio Metta

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Open-loop stochastic optimal control of a passive noise-rejection variable stiffness actuator: Application to unstable tasks.

[BibT_eX]

[DOI]

Bastien Berret

I. Yung

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Do humans need learning to read humanoid lifting actions?

[BibT_eX]

[DOI]

Proceedings of the 2013 IEEE Third Joint International Conference on Development and Learning and Epigenetic Robotics, 2013

Inertial parameter identification including friction and motor dynamics.

[BibT_eX]

[DOI]

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

On the effects of internal stiction in pnrVIA actuators.

[BibT_eX]

[DOI]

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

The iCub Platform: A Tool for Studying Intrinsically Motivated Learning.

[BibT_eX]

[DOI]

Proceedings of the Intrinsically Motivated Learning in Natural and Artificial Systems, 2013

2012

From humans to humanoids: The optimal control framework.

[BibT_eX]

[DOI]

Paladyn J. Behav. Robotics, 2012

Measuring Human-Robot Interaction Through Motor Resonance.

[BibT_eX]

[DOI]

Int. J. Soc. Robotics, 2012

The Design of the iCub humanoid Robot.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2012

Autonomous Online Learning of Reaching Behavior in a humanoid Robot.

[BibT_eX]

[DOI]

Int. J. Humanoid Robotics, 2012

Force feedback exploiting tactile and proximal force/torque sensing - Theory and implementation on the humanoid robot iCub.

[BibT_eX]

[DOI]

Auton. Robots, 2012

Control of a Single Degree of Freedom Noise Rejecting - Variable Impedance Actuator.

[BibT_eX]

[DOI]

Proceedings of the 10th IFAC Symposium on Robot Control, SyRoCo 2012, Dubrovnik, Croatia, 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

DForC: A real-time method for reaching, tracking and obstacle avoidance in humanoid robots.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

pnrVSA: human-like actuator with non-linear springs in agonist-antagonist configuration.

[BibT_eX]

[DOI]

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

Design principles for muscle-like variable impedance actuators with noise rejection property via co-contraction.

[BibT_eX]

[DOI]

Bastien Berret

Giulio Sandini

Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29, 2012

2011

Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach.

[BibT_eX]

[DOI]

PLoS Comput. Biol., 2011

Force Control and Reaching Movements on the iCub Humanoid Robot.

[BibT_eX]

[DOI]

Proceedings of the Robotics Research, 2011

A comparison between joint level torque sensing and proximal F/T sensor torque estimation: Implementation on the iCub.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Skin spatial calibration using force/torque measurements.

[BibT_eX]

[DOI]

Andrea Del Prete

Simone Denei

Lorenzo Natale

Fulvio Mastrogiovanni

Giorgio Cannata

Giorgio Metta

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Reexamining Lucas-Kanade method for real-time independent motion detection: Application to the iCub humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Stochastic optimal control with variable impedance manipulators in presence of uncertainties and delayed feedback.

[BibT_eX]

[DOI]

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: Theory and implementation on the iCub.

[BibT_eX]

[DOI]

Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), 2011

The iCub project: An open source platform for research in embodied cognition.

[BibT_eX]

[DOI]

Proceedings of the Advanced Robotics and its Social Impacts, 2011

2010

Human-Robot Cooperation Based on Interaction Learning.

[BibT_eX]

[DOI]

Proceedings of the From Motor Learning to Interaction Learning in Robots, 2010

Learning to Exploit Proximal Force Sensing: A Comparison Approach.

[BibT_eX]

[DOI]

Proceedings of the From Motor Learning to Interaction Learning in Robots, 2010

Integration of Action and Language Knowledge: A Roadmap for Developmental Robotics.

[BibT_eX]

[DOI]

Chrystopher L. Nehaniv

Katharina J. Rohlfing

IEEE Trans. Auton. Ment. Dev., 2010

The iCub humanoid robot: An open-systems platform for research in cognitive development.

[BibT_eX]

[DOI]

Neural Networks, 2010

An experimental evaluation of a novel minimum-jerk cartesian controller for humanoid robots.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Approximate optimal control for reaching and trajectory planning in a humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Exploiting proximal F/T measurements for the iCub active compliance.

[BibT_eX]

[DOI]

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Machine-learning based control of a human-like tendon-driven neck.

[BibT_eX]

[DOI]

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Design, realization and sensorization of the dexterous iCub hand.

[BibT_eX]

[DOI]

Proceedings of the 10th IEEE-RAS International Conference on Humanoid Robots, 2010

2009

A force sensor for the control of a human-like tendon driven neck.

[BibT_eX]

[DOI]

Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots, 2009

Can imprecise internal motor models explain the ataxic hand trajectories during reaching in young infants?

[BibT_eX]

[DOI]

Giulio Sandini

Jürgen Konczak

Proceedings of the Ninth International Conference on Epigenetic Robotics (EpiRob 2009), 2009

2008

An open-source simulator for cognitive robotics research: the prototype of the iCub humanoid robot simulator.

[BibT_eX]

[DOI]

Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, 2008

The iCub humanoid robot: an open platform for research in embodied cognition.

[BibT_eX]

[DOI]

Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems, 2008

Study on humanoid robot systems: An energy approach.

[BibT_eX]

[DOI]

Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008

Anticipation and initiative in human-humanoid interaction.

[BibT_eX]

[DOI]

Proceedings of the 8th IEEE-RAS International Conference on Humanoid Robots, 2008

2007

Autonomous learning of 3D reaching in a humanoid robot.

[BibT_eX]

[DOI]

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

Sensory prediction for autonomous robots.

[BibT_eX]

[DOI]

Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, November 29th, 2007

Accurate control of a human-like tendon-driven neck.

[BibT_eX]

[DOI]

Proceedings of the 2007 7th IEEE-RAS International Conference on Humanoid Robots, November 29th, 2007

2006

James: A Humanoid Robot Acting over an Unstructured World.

[BibT_eX]

[DOI]

Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, 2006

2005

A control theory approach to the analysis and synthesis of the experimentally observed motion primitives.

[BibT_eX]

[DOI]

Ruggero Frezza

Biol. Cybern., 2005

Control of a Manipulator with a Minimum Number of Motion Primitives.

[BibT_eX]

[DOI]

Ruggero Frezza

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004

Biologically inspired control of a kinematic chain using the superposition of motion primitives.

[BibT_eX]

[DOI]