Zobrazeno 1 - 10
of 264
pro vyhledávání: '"Traversaro, A."'
Autor:
Cardenas-Perez, Carlos, Romualdi, Giulio, Elobaid, Mohamed, Dafarra, Stefano, L'Erario, Giuseppe, Traversaro, Silvio, Morerio, Pietro, Del Bue, Alessio, Pucci, Daniele
This paper presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for a whole-body autonomous humanoid robot used in real-world Human-Robot Interaction (HRI) scenarios. The main contribution of this
Externí odkaz:
http://arxiv.org/abs/2406.15833
Publikováno v:
International Journal of Semantic Computing 0 Ahead of Print (2024) 1-17
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function blocks, the
Externí odkaz:
http://arxiv.org/abs/2405.08092
Autor:
Sartore, Carlotta, Rapetti, Lorenzo, Bergonti, Fabio, Dafarra, Stefano, Traversaro, Silvio, Pucci, Daniele
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads to subopt
Externí odkaz:
http://arxiv.org/abs/2312.07459
Publikováno v:
Informatics in Education, Vol 23, Iss 3, Pp 679-718 (2024)
Concurrency is a complex to learn topic that is becoming more and more relevant, such that many undergraduate Computer Science curricula are introducing it in introductory programming courses. This paper investigates the combined use of Sonic Pi and
Externí odkaz:
https://doaj.org/article/18a39bd717404c99ae7fdc1b92fdc8ba
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including manipulators and fl
Externí odkaz:
http://arxiv.org/abs/2211.09716
Autor:
Ramadoss, Prashanth, Rapetti, Lorenzo, Tirupachuri, Yeshasvi, Grieco, Riccardo, Milani, Gianluca, Valli, Enrico, Dafarra, Stefano, Traversaro, Silvio, Pucci, Daniele
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using wearable distr
Externí odkaz:
http://arxiv.org/abs/2205.07835
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-or
Externí odkaz:
http://arxiv.org/abs/2205.07765
Publikováno v:
AIMS Journal of Geometric Mechanics (JGM) 2022
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state estimation. Con
Externí odkaz:
http://arxiv.org/abs/2204.05092
Autor:
Dafarra, Stefano, Pattacini, Ugo, Romualdi, Giulio, Rapetti, Lorenzo, Grieco, Riccardo, Darvish, Kourosh, Milani, Gianluca, Valli, Enrico, Sorrentino, Ines, Viceconte, Paolo Maria, Scalzo, Alessandro, Traversaro, Silvio, Sartore, Carlotta, Elobaid, Mohamed, Guedelha, Nuno, Herron, Connor, Leonessa, Alexander, Draicchio, Francesco, Metta, Giorgio, Maggiali, Marco, Pucci, Daniele
Publikováno v:
Science Robotics, 24th January 2024
We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia (IIT). More precisely, the contribution of the paper is twof
Externí odkaz:
http://arxiv.org/abs/2203.06972
Autor:
Romualdi, Giulio, Dafarra, Stefano, L'Erario, Giuseppe, Sorrentino, Ines, Traversaro, Silvio, Pucci, Daniele
Publikováno v:
ICRA 2022
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact forces and tor
Externí odkaz:
http://arxiv.org/abs/2203.04489