Stefano Dafarra

According to our database, Stefano Dafarra authored at least 36 papers between 2016 and 2025.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2025

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots.

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci

IEEE Robotics Autom. Lett., March, 2025

2024

XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration.

Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro, Pietro Morerio, Alessio Del Bue, Daniele Pucci

IEEE Robotics Autom. Lett., December, 2024

iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots.

Stefano Dafarra, Ugo Pattacini, Giulio Romualdi, Lorenzo Rapetti, Riccardo Grieco, Kourosh Darvish, Gianluca Milani, Enrico Valli, Ines Sorrentino, Paolo Maria Viceconte, Alessandro Scalzo, Silvio Traversaro, Carlotta Sartore, Mohamed Elobaid, Nuno Guedelha, Connor W. Herron, Alexander Leonessa, Francesco Draicchio, Giorgio Metta, Marco Maggiali, Daniele Pucci

Sci. Robotics, January, 2024

Remote telepresence over large distances via robot avatars: case studies.

Mohamed Elobaid, Stefano Dafarra, Ehsan Ranjbari, Giulio Romualdi, Tomohiro Chaki, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci

CoRR, 2024

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots.

Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci

CoRR, 2024

Analysis and Perspectives on the ANA Avatar XPRIZE Competition.

Kris Hauser, Eleanor Watson, Joonbum Bae, Josh Bankston, Sven Behnke, Bill Borgia, Manuel G. Catalano, Stefano Dafarra, Jan B. F. van Erp, Thomas Ferris, Jeremy Fishel, Guy Hoffman, Serena Ivaldi, Fumio Kanehiro, Abderrahmane Kheddar, Gaelle Lannuzel, Jacquelyn Ford Morie, Patrick Naughton, Steve NGuyen, Paul Y. Oh, Taskin Padir, Jim Pippine, Jaeheung Park, Daniele Pucci, Jean Chagas Vaz, Peter Whitney, Peggy Wu, David Locke

CoRR, 2024

Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment.

Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

2023

Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization.

Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

CoRR, 2023

Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization.

Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

2022

Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion.

Stefano Dafarra, Giulio Romualdi, Daniele Pucci

IEEE Trans. Robotics, 2022

ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots.

Paolo Maria Viceconte, Raffaello Camoriano, Giulio Romualdi, Diego Ferigo, Stefano Dafarra, Silvio Traversaro, Giuseppe Oriolo, Lorenzo Rosasco, Daniele Pucci

IEEE Robotics Autom. Lett., 2022

Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter.

Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

CoRR, 2022

An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet.

Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

CoRR, 2022

iCub3 Avatar System.

Stefano Dafarra, Kourosh Darvish, Riccardo Grieco, Gianluca Milani, Ugo Pattacini, Lorenzo Rapetti, Giulio Romualdi, Mattia Salvi, Alessandro Scalzo, Ines Sorrentino, Davide Tomè, Silvio Traversaro, Enrico Valli, Paolo Maria Viceconte, Giorgio Metta, Marco Maggiali, Daniele Pucci

CoRR, 2022

Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet.

Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment.

Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility.

Giulio Romualdi, Nahuel A. Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter.

Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Whole-Body Trajectory Optimization for Robot Multimodal Locomotion.

Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

2021

Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control.

Giulio Romualdi, Stefano Dafarra, Daniele Pucci

IEEE Robotics Autom. Lett., 2021

DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups.

Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci

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

2020

Predictive Whole-Body Control of Humanoid Robot Locomotion.

Stefano Dafarra

PhD thesis, 2020

A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots.

Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci

Int. J. Humanoid Robotics, 2020

Predictive Whole-Body Control of Humanoid Robot Locomotion.

Stefano Dafarra

CoRR, 2020

Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics.

Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Stefano Dafarra, Gabriele Nava, Claudia Latella, Daniele Pucci

Algorithms, 2020

Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas.

Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach.

Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci

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

2019

Telexistence and Teleoperation for Walking Humanoid Robots.

Mohamed Elobaid, Yue Hu, Giulio Romualdi, Stefano Dafarra, Jan Babic, Daniele Pucci

Proceedings of the Intelligent Systems and Applications, 2019

Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots.

Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci

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

2018

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

Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael N. Mistry, Vincent Padois, Francesco Nori

IEEE Robotics Autom. Lett., 2018

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

Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci

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

A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots.

Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci

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

2017

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

Stefano Dafarra, Francesco Romano, Francesco Nori

CoRR, 2017

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

Stefano Dafarra, Francesco Romano, Francesco Nori

Proceedings of the Advances in Service and Industrial Robotics, 2017

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

Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori

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

2016

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

Stefano Dafarra, Francesco Romano, Francesco Nori

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