Publications
2024
Sartore C., Rando M., Romualdi G., Molinari C., Rosasco L., Pucci D.
Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques
2024 IEEE-RAS 23rd International Conference on Humanoid Robots
2024
Dafarra S., Pattacini U., Romualdi G., Rapetti L., Grieco R., Darvish K., Milani G., Valli E., Sorrentino I., Viceconte P.M., Scalzo A., Traversaro S., Sartore C., Elobaid M., Guedelha N., Herron C., Leonessa A., Draicchio F., Metta G., Maggiali M., Pucci D.
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots
Science Robotics, vol. 9, (no. 86)
2024
Romualdi G., Viceconte P. M., Moretti L., Sorrentino I., Dafarra S., Traversaro S., Pucci D.
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
IEEE-RAS International Conference on Humanoid Robots
Conference Paper
Conference
2024
Sorrentino I., Romualdi G., Bergonti F., L'Erario G., Traversaro S., Pucci D.
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives
2024 IEEE-RAS International Conference on Humanoid Robots
2024
Sorrentino I., Romualdi G., Pucci D.
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
2024 IEEE International Conference on Robotics and Automation (ICRA)
2024
Sorrentino I., Romualdi G., Pucci D.
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
Proceedings - IEEE International Conference on Robotics and Automation, pp. 13150-13156
2024
Cardenas-Perez C., Romualdi G., Elobaid M., Dafarra S., L'Erario G., Traversaro S., Morerio P., Bue A.D., Pucci D.
XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
IEEE Robotics and Automation Letters
2023
Elobaid M., Romualdi G., Nava G., Rapetti L., Omer Mohamed H.A., Pucci D.
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2023-May, pp. 12233-12239
2022
Viceconte P.M., Camoriano R., Romualdi G., Ferigo D., Dafarra S., Traversaro S., Oriolo G., Rosasco L., Pucci D.
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots
IEEE Robotics and Automation Letters, vol. 7, (no. 2), pp. 2779-2786
2022
Ramadoss P., Romualdi G., Dafarra S., Traversaro S., Pucci D.
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet
IEEE International Conference on Intelligent Robots and Systems, vol. 2022-October, pp. 6780-6787
2022
Dafarra S., Romualdi G., Pucci D.
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
IEEE Transactions on Robotics, vol. 38, (no. 6), pp. 3414-3433
2022
Dafarra S., Darvish K., Grieco R., Milani G., Pattacini U., Rapetti L., Romualdi G., Salvi M., Scalzo A., Sorrentino I., Tomè D., Traversaro S., Valli E., Viceconte P. M., Metta G., Maggiali M., Pucci D.
iCub3 Avatar System
arXiv
2022
Romualdi G.
Online Control of Humanoid Robot Locomotion
PhD Thesis
Book
2022
Romualdi G., Dafarra S., L'Erario G., Sorrentino I., Traversaro S., Pucci D.
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment
Proceedings - IEEE International Conference on Robotics and Automation, pp. 10412-10419
2022
Romualdi G., Villa N.A., Dafarra S., Pucci D., Stasse O.
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility
IEEE-RAS International Conference on Humanoid Robots, vol. 2022-November, pp. 104-111