| Online non-linear centroidal mpc for humanoid robot locomotion with step adjustment G Romualdi, S Dafarra, G L'Erario, I Sorrentino, S Traversaro, D Pucci 2022 International Conference on Robotics and Automation (ICRA), 10412-10419, 2022 | 43 | 2022 |
| Model-based real-time motion tracking using dynamical inverse kinematics L Rapetti, Y Tirupachuri, K Darvish, S Dafarra, G Nava, C Latella, D Pucci Algorithms 13 (10), 266, 2020 | 37 | 2020 |
| The codyco project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction F Romano, G Nava, M Azad, J Čamernik, S Dafarra, O Dermy, C Latella, ... IEEE Robotics and Automation Letters 3 (1), 516-523, 2017 | 34 | 2017 |
| Telexistence and teleoperation for walking humanoid robots M Elobaid, Y Hu, G Romualdi, S Dafarra, J Babic, D Pucci Intelligent Systems and Applications: Proceedings of the 2019 Intelligent …, 2020 | 32 | 2020 |
| iCub3 avatar system S Dafarra, K Darvish, R Grieco, G Milani, U Pattacini, L Rapetti, ... arXiv preprint arXiv:2203.06972 3, 2022 | 30 | 2022 |
| Online dcm trajectory generation for push recovery of torque-controlled humanoid robots M Shafiee, G Romualdi, S Dafarra, FJA Chavez, D Pucci 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids …, 2019 | 29 | 2019 |
| A benchmarking of dcm based architectures for position and velocity controlled walking of humanoid robots G Romualdi, S Dafarra, Y Hu, D Pucci 2018 IEEE-RAS 18th international conference on humanoid robots (humanoids), 1-9, 2018 | 28 | 2018 |
| Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot S Dafarra, F Romano, F Nori 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids …, 2016 | 28 | 2016 |
| iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots S Dafarra, U Pattacini, G Romualdi, L Rapetti, R Grieco, K Darvish, ... Science Robotics 9 (86), eadh3834, 2024 | 22 | 2024 |
| A benchmarking of dcm-based architectures for position, velocity and torque-controlled humanoid robots G Romualdi, S Dafarra, Y Hu, P Ramadoss, FJA Chavez, S Traversaro, ... International Journal of Humanoid Robotics 17 (01), 1950034, 2020 | 21 | 2020 |
| Non-linear trajectory optimization for large step-ups: Application to the humanoid robot atlas S Dafarra, S Bertrand, RJ Griffin, G Metta, D Pucci, J Pratt 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020 | 20 | 2020 |
| A control architecture with online predictive planning for position and torque controlled walking of humanoid robots S Dafarra, G Nava, M Charbonneau, N Guedelha, F Andrade, ... 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018 | 20 | 2018 |
| Adherent: Learning human-like trajectory generators for whole-body control of humanoid robots PM Viceconte, R Camoriano, G Romualdi, D Ferigo, S Dafarra, ... IEEE Robotics and Automation Letters 7 (2), 2779-2786, 2022 | 19 | 2022 |
| Analysis and perspectives on the ana avatar xprize competition K Hauser, EN Watson, J Bae, J Bankston, S Behnke, B Borgia, ... International Journal of Social Robotics, 1-32, 2024 | 18 | 2024 |
| Dynamic complementarity conditions and whole-body trajectory optimization for humanoid robot locomotion S Dafarra, G Romualdi, D Pucci IEEE Transactions on Robotics 38 (6), 3414-3433, 2022 | 15 | 2022 |
| Diligent-kio: A proprioceptive base estimator for humanoid robots using extended kalman filtering on matrix lie groups P Ramadoss, G Romualdi, S Dafarra, FJA Chavez, S Traversaro, D Pucci 2021 IEEE International Conference on Robotics and Automation (ICRA), 2904-2910, 2021 | 14 | 2021 |
| Modeling of visco-elastic environments for humanoid robot motion control G Romualdi, S Dafarra, D Pucci IEEE Robotics and Automation Letters 6 (3), 4289-4296, 2021 | 11 | 2021 |
| Whole-body walking generation using contact parametrization: A non-linear trajectory optimization approach S Dafarra, G Romualdi, G Metta, D Pucci 2020 IEEE International Conference on Robotics and Automation (ICRA), 1511-1517, 2020 | 9 | 2020 |
| Modeling and control of humanoid robots in dynamic environments: Icub balancing on a seesaw G Nava, D Pucci, N Guedelha, S Traversaro, F Romano, S Dafarra, F Nori 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …, 2017 | 8 | 2017 |
| Whole-body human kinematics estimation using dynamical inverse kinematics and contact-aided lie group kalman filter P Ramadoss, L Rapetti, Y Tirupachuri, R Grieco, G Milani, E Valli, ... arXiv preprint arXiv:2205.07835, 2022 | 5 | 2022 |
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