Navigation Among Movable Obstacles via Multi-Object Pushing Into Storage Zones

Autor: Kirsty Ellis, Denis Hadjivelichkov, Valerio Modugno, Danail Stoyanov, Dimitrios Kanoulas

Publikováno v: IEEE Access, Vol 11, Pp 3174-3183 (2023)

With the majority of mobile robot path planning methods being focused on obstacle avoidance, this paper, studies the problem of Navigation Among Movable Obstacles (NAMO) in an unknown environment, with static (i.e., that cannot be moved by a robot) a

Externí odkaz: https://doaj.org/article/857151cde989433fa42b3ee7ec13c5e3

Enforcing Constraints over Learned Policies via Nonlinear MPC: Application to the Pendubot

Autor: Leonardo Lanari, Massimo Cefalo, Giulio Turrisi, Giuseppe Oriolo, Valerio Modugno, B. Barros Carlos

Publikováno v: IFAC-PapersOnLine. 53:9502-9507

In recent years Reinforcement Learning (RL) has achieved remarkable results. Nonetheless RL algorithms prove to be unsuccessful in robotics applications where constraints satisfaction is involved, e.g. for safety. In this work we propose a control al

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4972e0af183fb57642111c13d8776f54
https://doi.org/10.1016/j.ifacol.2020.12.2426

Learning Robust Task Priorities and Gains for Control of Redundant Robots

Autor: Valerio Modugno, Waldez Gomes, Jean-Baptiste Mouret, Luigi Penco, Serena Ivaldi, Enrico Mingo Hoffman

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, 2020, 5 (2), pp.2626-2633. ⟨10.1109/LRA.2020.2972847⟩
IEEE Robotics and Automation Letters, IEEE 2020, 5 (2), pp.2626-2633. ⟨10.1109/LRA.2020.2972847⟩

International audience; Generating complex movements in redundant robots like humanoids is usually done by means of multi-task controllers based on quadratic programming, where a multitude of tasks is organized according to strict or soft priorities.

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ae07a2151ebd919763f83ecded3b2e2e
https://inria.hal.science/hal-02456663/document

A Multi-Mode Teleoperation Framework for Humanoid Loco-Manipulation: An Application for the iCub Robot

Autor: Luigi Penco, Leonardo Lanari, Valerio Modugno, Giuseppe Oriolo, Serena Ivaldi, Nicola Scianca

Publikováno v: IEEE Robotics and Automation Magazine
IEEE Robotics and Automation Magazine, Institute of Electrical and Electronics Engineers, 2019, 26 (4), pp.73-82. ⟨10.1109/MRA.2019.2941245⟩
IEEE Robotics and Automation Magazine, 2019, 26 (4), pp.73-82. ⟨10.1109/MRA.2019.2941245⟩

International audience; Over the years, there have been many improvements in job-related safety standards and working conditions, but there are still many situations and environments where human lives are put at risk, such as in search and rescue sit

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::32c45c77d944250c65ed4792d704a227
https://hal.inria.fr/hal-02291907/document

Recent Research on Humanoid Robots at Sapienza University of Rome

Autor: Paolo Ferrari, Valerio Modugno, Nicola Scianca, Leonardo Lanari, Giuseppe Oriolo

We review some recent research on humanoid robots carried out at the DIAG Robotics Lab of Sapienza University of Rome. In particular, we discuss (1) a general framework for intrinsically stable gait generation based on MPC, complete with stability an

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4f51b486167dbd45e13903ccc8895809