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Scopus Author ID: 57193029048

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Works (8)

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots

IEEE Robotics and Automation Letters
2025 | Journal article
DOI: 10.1109/LRA.2025.3536296
Contributors: Mohamed Elobaid; Giulio Turrisi; Lorenzo Rapetti; Giulio Romualdi; Stefano Dafarra; Tomohiro Kawakami; Tomohiro Chaki; Takahide Yoshiike; Claudio Semini; Daniele Pucci
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Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking

IEEE Robotics and Automation Letters
2025-05 | Journal article
DOI: 10.1109/LRA.2025.3549660
Contributors: Akhil Sathuluri; Carlotta Sartore; Stefano Dafarra; Silvio Traversaro; Markus Zimmermann; Daniele Pucci
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XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration

IEEE Robotics and Automation Letters
2024 | Journal article
DOI: 10.1109/LRA.2024.3495577
Contributors: Carlos Cardenas-Perez; Giulio Romualdi; Mohamed Elobaid; Stefano Dafarra; Giuseppe L'Erario; Silvio Traversaro; Pietro Morerio; Alessio Del Bue; Daniele Pucci
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iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots

Science Robotics
2024-01-24 | Journal article
DOI: 10.1126/scirobotics.adh3834
Contributors: Stefano Dafarra; Ugo Pattacini; Giulio Romualdi; Lorenzo Rapetti; Riccardo Grieco; Kourosh Darvish; Gianluca Milani; Enrico Valli; Ines Sorrentino; Paolo Maria Viceconte et al.
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Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion

IEEE Transactions on Robotics
2022-12 | Journal article
DOI: 10.1109/TRO.2022.3183785
Contributors: Stefano Dafarra; Giulio Romualdi; Daniele Pucci
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ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots

IEEE Robotics and Automation Letters
2022-04 | Journal article
DOI: 10.1109/LRA.2022.3141658
Contributors: Paolo Maria Viceconte; Raffaello Camoriano; Giulio Romualdi; Diego Ferigo; Stefano Dafarra; Silvio Traversaro; Giuseppe Oriolo; Lorenzo Rosasco; Daniele Pucci
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Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control

IEEE Robotics and Automation Letters
2021-07 | Journal article
DOI: 10.1109/LRA.2021.3067589
Contributors: Giulio Romualdi; Stefano Dafarra; Daniele Pucci
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Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics

Algorithms
2020-10-20 | Journal article
DOI: 10.3390/a13100266
Contributors: Lorenzo Rapetti; Yeshasvi Tirupachuri; Kourosh Darvish; Stefano Dafarra; Gabriele Nava; Claudia Latella; Daniele Pucci
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Peer review (2 reviews for 2 publications/grants)

Review activity for International journal of social robotics. (1)
Review activity for Mechanism and machine theory. (1)
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