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Silvio Traversaro
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Journal Articles
- 2024
- [j22]Nuno Guedelha
, Venus Pasandi
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical Background and Implementation Details. Int. J. Semantic Comput. 18(2): 239-255 (2024) - [j21]Stefano Dafarra
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. Sci. Robotics 9(86) (2024) - 2022
- [j20]Hosameldin Awadalla Omer Mohamed
Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots. IEEE Robotics Autom. Lett. 7(1): 526-533 (2022) - [j19]Paolo Maria Viceconte
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots. IEEE Robotics Autom. Lett. 7(2): 2779-2786 (2022) - [j18]Tobias Fischer
A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems. IEEE Robotics Autom. Mag. 29(2): 65-74 (2022) - 2021
- [j17]Yeshasvi Tirupachuri
Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment. IEEE Access 9: 123260-123279 (2021) - [j16]Diego Ferigo
On the Emergence of Whole-Body Strategies From Humanoid Robot Push-Recovery Learning. IEEE Robotics Autom. Lett. 6(4): 8561-8568 (2021) - 2020
- [j15]Giulio Romualdi
A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots. Int. J. Humanoid Robotics 17(1): 1950034:1-1950034:25 (2020) - [j14]Giuseppe L'Erario
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics. IEEE Robotics Autom. Lett. 5(2): 2070-2077 (2020) - [j13]Ines Sorrentino
A Novel Sensorised Insole for Sensing Feet Pressure Distributions. Sensors 20(3): 747 (2020) - [j12]Diego Romeres
Derivative-Free Online Learning of Inverse Dynamics Models. IEEE Trans. Control. Syst. Technol. 28(3): 816-830 (2020) - 2019
- [j11]Claudia Latella
Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms - A physical human-robot interaction case study. Auton. Robots 43(6): 1591-1603 (2019) - [j10]Daniele E. Domenichelli, Silvio Traversaro
A Build System for Software Development in Robotic Academic Collaborative Environments. Int. J. Semantic Comput. 13(2): 185-205 (2019) - [j9]Claudia Latella
Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques. Sensors 19(12): 2794 (2019) - [j8]Francisco Javier Andrade Chavez
Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance. Sensors 19(24): 5521 (2019) - 2018
- [j7]Daniele Pucci, Silvio Traversaro
Momentum Control of an Underactuated Flying Humanoid Robot. IEEE Robotics Autom. Lett. 3(1): 195-202 (2018) - [j6]Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik
The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction. IEEE Robotics Autom. Lett. 3(1): 516-523 (2018) - [j5]Francisco Javier Andrade Chavez
Contact Force and Joint Torque Estimation Using Skin. IEEE Robotics Autom. Lett. 3(4): 3900-3907 (2018) - [j4]Joan Kangro
A Plenum-Based Calibration Device for Tactile Sensor Arrays. IEEE Robotics Autom. Lett. 3(4): 3937-3943 (2018) - 2017
- [j3]Alessandro Saccon
On Centroidal Dynamics and Integrability of Average Angular Velocity. IEEE Robotics Autom. Lett. 2(2): 943-950 (2017) - 2016
- [j2]Claudia Latella
Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing. Sensors 16(5): 727 (2016) - 2015
- [j1]Francesco Nori, Silvio Traversaro
iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts. Frontiers Robotics AI 2: 6 (2015)
Conference and Workshop Papers
- 2024
- [c33]Ines Sorrentino, Giulio Romualdi, Fabio Bergonti, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci:
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives. Humanoids 2024: 505-512 - [c32]Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment. Humanoids 2024: 584-591 - 2023
- [c31]Carlotta Sartore
Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. Humanoids 2023: 1-8 - 2022
- [c30]Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. Humanoids 2022: 364-369 - [c29]Giulio Romualdi
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. ICRA 2022: 10412-10419 - [c28]Nuno Guedelha
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground. IRC 2022: 53-57 - [c27]Prashanth Ramadoss, Giulio Romualdi
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet. IROS 2022: 6780-6787 - 2021
- [c26]Prashanth Ramadoss, Giulio Romualdi
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. ICRA 2021: 2904-2910 - [c25]Prajval Kumar Murali
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects. ICRA 2021: 11067-11073 - 2020
- [c24]Angelo Rendiniello, Alberto Remus, Ines Sorrentino, Prajval Kumar Murali
A Flexible Software Architecture for Robotic Industrial Applications. ETFA 2020: 1273-1276 - [c23]Diego Ferigo, Silvio Traversaro, Giorgio Metta, Daniele Pucci:
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning. SII 2020: 885-890 - 2019
- [c22]Francisco Javier Andrade Chavez
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors. ICRA 2019: 5397-5403 - [c21]Yeshasvi Tirupachuri
Momentum-Based Topology Estimation of Articulated Objects. IntelliSys (2) 2019: 1093-1105 - [c20]Nuno Guedelha
Identification of Motor Parameters on Coupled Joints. IntelliSys (2) 2019: 1153-1172 - 2018
- [c19]Gabriele Nava, Luca Fiorio, Silvio Traversaro
Position and Attitude Control of an Underactuated Flying Humanoid Robot. Humanoids 2018: 1-9 - [c18]Daniele E. Domenichelli
A Build System for Software Development in Robotic Academic Collaborative Environments. IRC 2018: 33-40 - [c17]Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. IROS 2018: 1-9 - 2017
- [c16]Gabriele Nava, Daniele Pucci, Nuno Guedelha
Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw. Humanoids 2017: 263-270 - [c15]Joan Kangro, Silvio Traversaro
Skin normal force calibration using vacuum bags. ICRA 2017: 401-406 - [c14]Mark Rijnen, Eric de Mooij, Silvio Traversaro
Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control. ICRA 2017: 4102-4107 - [c13]Francesco Romano, Silvio Traversaro
A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems. IRC 2017: 148-155 - 2016
- [c12]Daniele Pucci, Francesco Romano, Silvio Traversaro
Highly dynamic balancing via force control. Humanoids 2016: 141 - [c11]Francesco Romano, Naveen Kuppuswamy, Matteo Ciocca, Silvio Traversaro
Stable bipedal foot planting on uneven terrain through optimal ankle impedance. Humanoids 2016: 146-151 - [c10]Francisco Javier Andrade Chavez
Model based in situ calibration of six axis force torque sensors. Humanoids 2016: 422-427 - [c9]Nuno Guedelha
Self-calibration of joint offsets for humanoid robots using accelerometer measurements. Humanoids 2016: 1233-1238 - [c8]Raffaello Camoriano
Incremental semiparametric inverse dynamics learning. ICRA 2016: 544-550 - [c7]Silvio Traversaro
Identification of fully physical consistent inertial parameters using optimization on manifolds. IROS 2016: 5446-5451 - 2015
- [c6]Silvio Traversaro
Inertial parameters identification and joint torques estimation with proximal force/torque sensing. ICRA 2015: 2105-2110 - [c5]Silvio Traversaro
In situ calibration of six-axis force-torque sensors using accelerometer measurements. ICRA 2015: 2111-2116 - [c4]Francesco Nori, Naveen Kuppuswamy, Silvio Traversaro
Simultaneous state and dynamics estimation in articulated structures. IROS 2015: 3380-3386 - [c3]Ali Paikan, Silvio Traversaro
A Generic Testing Framework for Test Driven Development of Robotic Systems. MESAS 2015: 216-225 - 2014
- [c2]Enrico Mingo Hoffman, Silvio Traversaro
Yarp Based Plugins for Gazebo Simulator. MESAS 2014: 333-346 - 2013
- [c1]Silvio Traversaro
Inertial parameter identification including friction and motor dynamics. Humanoids 2013: 68-73
Informal and Other Publications
- 2024
- [i39]Nuno Guedelha
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details. CoRR abs/2405.08092 (2024) - [i38]Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro, Pietro Morerio, Alessio Del Bue, Daniele Pucci:
XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration. CoRR abs/2406.15833 (2024) - [i37]Tobias Fischer, Isabel Paredes, Michael Batchelor, Thorsten Beier, Jesse Haviland, Silvio Traversaro, Wolf Vollprecht, Markus Schmitz, Michael Milford:
ROS2WASM: Bringing the Robot Operating System to the Web. CoRR abs/2409.09941 (2024) - [i36]Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment. CoRR abs/2410.07849 (2024) - [i35]Ines Sorrentino, Giulio Romualdi, Fabio Bergonti, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci:
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives. CoRR abs/2410.12685 (2024) - 2023
- [i34]Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. CoRR abs/2312.07459 (2023) - 2022
- [i33]Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci:
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. CoRR abs/2203.04489 (2022) - [i32]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:
iCub3 Avatar System. CoRR abs/2203.06972 (2022) - [i31]Martijn Bos, Silvio Traversaro, Daniele Pucci, Alessandro Saccon:
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics. CoRR abs/2204.05092 (2022) - [i30]Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet. CoRR abs/2205.07765 (2022) - [i29]Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. CoRR abs/2205.07835 (2022) - [i28]Nuno Guedelha
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground. CoRR abs/2211.09716 (2022) - 2021
- [i27]Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi, Marco Maggiali, Lorenzo Natale, Daniele Pucci, Silvio Traversaro:
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects. CoRR abs/2103.11981 (2021) - [i26]Joan Kangro, Anand Vazhapilli Sureshbabu, Silvio Traversaro, Daniele Pucci, Francesco Nori:
A Plenum-Based Calibration Device for Tactile Sensor Arrays. CoRR abs/2103.12863 (2021) - [i25]Tobias Fischer, Wolf Vollprecht, Silvio Traversaro, Sean Yen, Carlos Herrero, Michael Milford:
RoboStack: Using the Robot Operating System alongside the Conda and Jupyter Data Science Ecosystems. CoRR abs/2104.12910 (2021) - [i24]Diego Ferigo, Raffaello Camoriano, Paolo Maria Viceconte, Daniele Calandriello, Silvio Traversaro, Lorenzo Rosasco, Daniele Pucci:
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning. CoRR abs/2104.14534 (2021) - [i23]Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. CoRR abs/2105.14914 (2021) - 2019
- [i22]Diego Ferigo, Silvio Traversaro, Francesco Romano, Daniele Pucci:
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers. CoRR abs/1906.02286 (2019) - [i21]Nuno Guedelha
Identification of Motor Parameters on Coupled Joints. CoRR abs/1906.05070 (2019) - [i20]Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Silvio Traversaro, Daniele Pucci:
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics. CoRR abs/1909.13296 (2019) - [i19]Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella, Luca Fiorio, Silvio Traversaro, Lorenzo Rapetti, Yeshasvi Tirupachuri, Marco Maggiali, Simeone Dussoni, Giorgio Metta, Daniele Pucci:
A Novel Sensorized Skin Insole for Sensing Feet Pressure Distributions. CoRR abs/1910.06370 (2019) - [i18]Diego Ferigo, Silvio Traversaro, Daniele Pucci:
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning. CoRR abs/1911.01715 (2019) - [i17]Giulio Romualdi, Stefano Dafarra, Yue Hu
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots. CoRR abs/1911.13233 (2019) - 2018
- [i16]Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. CoRR abs/1807.05395 (2018) - [i15]Yeshasvi Tirupachuri, Silvio Traversaro, Francesco Nori, Daniele Pucci:
Momentum-Based Topology Estimation of Articulated Objects. CoRR abs/1808.01639 (2018) - [i14]Diego Romeres, Mattia Zorzi, Raffaello Camoriano, Silvio Traversaro, Alessandro Chiuso:
Derivative-free online learning of inverse dynamics models. CoRR abs/1809.05074 (2018) - [i13]Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci:
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors. CoRR abs/1812.00650 (2018) - 2017
- [i12]Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori:
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems. CoRR abs/1701.00935 (2017) - [i11]Alessandro Saccon, Silvio Traversaro, Francesco Nori, Henk Nijmeijer:
On Centroidal Dynamics and Integrability of Average Angular Velocity. CoRR abs/1701.02514 (2017) - [i10]Daniele Pucci, Silvio Traversaro, Francesco Nori:
Momentum Control of an Underactuated Flying Humanoid Robot. CoRR abs/1702.06075 (2017) - [i9]Gabriele Nava, Daniele Pucci, Nuno Guedelha
Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw. CoRR abs/1707.09226 (2017) - [i8]Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci:
Contact Force and Joint Torque Estimation Using Skin. CoRR abs/1709.06902 (2017) - 2016
- [i7]Raffaello Camoriano, Silvio Traversaro
Incremental Semiparametric Inverse Dynamics Learning. CoRR abs/1601.04549 (2016) - [i6]Joan Kangro, Silvio Traversaro, Daniele Pucci, Francesco Nori:
Skin Normal Force Calibration Using Vacuum Bags. CoRR abs/1609.09720 (2016) - [i5]Francesco Romano, Daniele Pucci, Silvio Traversaro, Francesco Nori:
The Sensitivity of the Static Center of Pressure as a Criterion to assess Balancing Controllers Performance. CoRR abs/1610.01495 (2016) - [i4]Francisco Javier Andrade Chavez, Silvio Traversaro
Model Based In Situ Calibration of Six Axis Force Torque Sensors. CoRR abs/1610.03305 (2016) - [i3]Silvio Traversaro
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds. CoRR abs/1610.08703 (2016) - 2014
- [i2]Silvio Traversaro
In Situ Calibration of Six-Axes Force Torque Sensors using Accelerometer Measurements. CoRR abs/1410.0885 (2014) - [i1]Silvio Traversaro
Inertial Parameter Identification Including Friction and Motor Dynamics. CoRR abs/1410.4410 (2014)
Coauthor Index
Francisco Andrade 0002
aka: Francisco Javier Andrade Chavez
aka: Francisco Javier Andrade Chavez
[j22] [j21] [j20] [j19] [j17] [j16] [j15] [j14] [j13] [j11] [j9] [j8] [j7] [j6] [j5] [j4] [j1] [c33] [c32] [c31] [c30] [c29] [c28] [c27] [c26] [c25] [c24] [c23] [c22] [c21] [c20] [c19] [c17] [c16] [c15] [c13] [c12] [c10] [c5] [i39] [i38] [i36] [i35] [i34] [i33] [i32] [i31] [i30] [i29] [i28] [i27] [i26] [i24] [i23] [i22] [i21] [i20] [i19] [i18] [i17] [i16] [i15] [i13] [i12] [i10] [i9] [i8] [i6] [i5] [i4] [i2]
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