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https://traversaro.github.io/

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Scopus Author ID: 56595278200
ResearcherID: A-9556-2016
Loop profile: 189595

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Employment (3)

Istituto Italiano di Tecnologia: Genova, Liguria, IT

2021-05-16 to present | Applied Scientist (Technologist) (Artificial Mechanical Intelligence)
Employment
Source: Self-asserted source
Silvio Traversaro

Istituto Italiano di Tecnologia: Genova, Liguria, IT

2017-05-01 to 2021-04-30 | Post Doc (iCub Tech/Dynamic Interaction Control)
Employment
Source: Self-asserted source
Silvio Traversaro

Istituto Italiano di Tecnologia: Genova, Liguria, IT

2013-05-01 to 2013-12-31 | Intern (Robotics, Brain and Cognitive Sciences )
Employment
Source: Self-asserted source
Silvio Traversaro

Education and qualifications (3)

Istituto Italiano di Tecnologia: Genova, Liguria, IT

2014-01-01 to 2016-04-30 | Ph.D. (Robotics, Brain and Cognitive Sciences)
Education
Source: Self-asserted source
Silvio Traversaro

Universita degli Studi di Genova: Genova, Liguria, IT

2011-03-14 to 2013-03-22 | Laura Magistrale in Robotics Engineering (Dipartimento di Informatica, Sistemistica e Telematica)
Education
Source: Self-asserted source
Silvio Traversaro

Università degli Studi di Genova: Genova, Liguria, IT

2007-09 to 2011-03-11 | Laura in Ingegneria Informatica (Dipartimento di Informatica, Sistemistica e Telematica)
Education
Source: Self-asserted source
Silvio Traversaro

Works (45)

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
Source: check_circle
Crossref

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
Source: check_circle
Crossref

A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical Background and Implementation Details

International Journal of Semantic Computing
2024-06 | Journal article
DOI: 10.1142/S1793351X24300036
Contributors: Nuno Guedelha; Venus Pasandi; Giuseppe L’Erario; Silvio Traversaro; Daniele Pucci
Source: check_circle
Crossref

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
Source: check_circle
Crossref

Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots

IEEE Robotics and Automation Letters
2022-01 | Journal article
DOI: 10.1109/LRA.2021.3129258
Contributors: Hosameldin Awadalla Omer Mohamed; Gabriele Nava; Giuseppe L'Erario; Silvio Traversaro; Fabio Bergonti; Luca Fiorio; Punith Reddy Vanteddu; Francesco Braghin; Daniele Pucci
Source: check_circle
Crossref

A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems

IEEE Robotics & Automation Magazine
2021 | Journal article
DOI: 10.1109/MRA.2021.3128367
Contributors: Tobias Fischer; Wolf Kristian Vollprecht; Silvio Traversaro; Sean Yen; Carlos Herrero; Michael J Milford
Source: check_circle
Crossref

Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment

IEEE Access
2021 | Journal article
DOI: 10.1109/ACCESS.2021.3109238
Contributors: Yeshasvi Tirupachuri; Prashanth Ramadoss; Lorenzo Rapetti; Claudia Latella; Kourosh Darvish; Silvio Traversaro; Daniele Pucci
Source: check_circle
Crossref

On the Emergence of Whole-Body Strategies From Humanoid Robot Push-Recovery Learning

IEEE Robotics and Automation Letters
2021-10 | Journal article
DOI: 10.1109/LRA.2021.3076955
Contributors: Diego Ferigo; Raffaello Camoriano; Paolo Maria Viceconte; Daniele Calandriello; Silvio Traversaro; Lorenzo Rosasco; Daniele Pucci
Source: check_circle
Crossref

Identification of Motor Parameters on Coupled Joints

Advances in Intelligent Systems and Computing
2020 | Book chapter
DOI: 10.1007/978-3-030-29513-4_83
Part of ISBN: 9783030295127
Part of ISBN: 9783030295134
Part of ISSN: 2194-5357
Part of ISSN: 2194-5365
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 2)‎

Momentum-Based Topology Estimation of Articulated Objects

Advances in Intelligent Systems and Computing
2020 | Book chapter
DOI: 10.1007/978-3-030-29513-4_79
Part of ISBN: 9783030295127
Part of ISBN: 9783030295134
Part of ISSN: 2194-5357
Part of ISSN: 2194-5365
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 2)‎

Derivative-Free Online Learning of Inverse Dynamics Models

IEEE Transactions on Control Systems Technology
2020-05 | Journal article
DOI: 10.1109/TCST.2019.2891222
Contributors: Diego Romeres; Mattia Zorzi; Raffaello Camoriano; Silvio Traversaro; Alessandro Chiuso
Source: check_circle
Crossref

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics

IEEE Robotics and Automation Letters
2020-04 | Journal article
DOI: 10.1109/LRA.2020.2970572
Contributors: Giuseppe L'Erario; Luca Fiorio; Gabriele Nava; Fabio Bergonti; Hosameldin Awadalla Omer Mohamed; Emilio Benenati; Silvio Traversaro; Daniele Pucci
Source: check_circle
Crossref

A Novel Sensorised Insole for Sensing Feet Pressure Distributions

Sensors
2020-01-29 | Journal article
DOI: 10.3390/s20030747
Contributors: Ines Sorrentino; Francisco Javier Andrade Chavez; Claudia Latella; Luca Fiorio; Silvio Traversaro; Lorenzo Rapetti; Yeshasvi Tirupachuri; Nuno Guedelha; Marco Maggiali; Simeone Dussoni et al.
Source: check_circle
Crossref

A Build System for Software Development in Robotic Academic Collaborative Environments

International Journal of Semantic Computing
2019 | Journal article
DOI: 10.1142/S1793351X19400087
EID:

2-s2.0-85067845806
Contributors: Domenichelli, D.E.; Traversaro, S.; Muratore, L.; Rocchi, A.; Nori, F.; Natale, L.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Model based in situ calibration with temperature compensation of 6 axis force torque sensors

Proceedings - IEEE International Conference on Robotics and Automation
2019 | Conference paper
DOI: 10.1109/ICRA.2019.8794382
EID:

2-s2.0-85071454258
Contributors: Chavez, F.J.A.; Nava, G.; Traversaro, S.; Nori, F.; Pucci, D.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Position and Attitude Control of an Underactuated Flying Humanoid Robot

IEEE-RAS International Conference on Humanoid Robots
2019 | Conference paper
DOI: 10.1109/HUMANOIDS.2018.8624985
EID:

2-s2.0-85062263097
Contributors: Nava, G.; Fiorio, L.; Traversaro, S.; Pucci, D.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms: A physical human–robot interaction case study

Autonomous Robots
2019 | Journal article
DOI: 10.1007/s10514-018-9808-4
EID:

2-s2.0-85056124938
Contributors: Latella, C.; Lorenzini, M.; Lazzaroni, M.; Romano, F.; Traversaro, S.; Akhras, M.A.; Pucci, D.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance

Sensors
2019-12-13 | Journal article
DOI: 10.3390/s19245521
Contributors: Francisco Javier Andrade Chavez; Silvio Traversaro; Daniele Pucci
Source: check_circle
Crossref
grade
Preferred source (of 3)‎

Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques

Sensors
2019-06-21 | Journal article
DOI: 10.3390/s19122794
Contributors: Claudia Latella; Silvio Traversaro; Diego Ferigo; Yeshasvi Tirupachuri; Lorenzo Rapetti; Francisco Javier Andrade Chavez; Francesco Nori; Daniele Pucci
Source: check_circle
Crossref
grade
Preferred source (of 3)‎

A build system for software development in robotic academic collaborative environments

Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018
2018 | Conference paper
DOI: 10.1109/IRC.2018.00014
EID:

2-s2.0-85049640132
Contributors: Domenichelli, D.E.; Traversaro, S.; Muratore, L.; Rocchi, A.; Nori, F.; Natale, L.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

IEEE International Conference on Intelligent Robots and Systems
2018 | Conference paper
DOI: 10.1109/IROS.2018.8594277
EID:

2-s2.0-85062303425
Contributors: Dafarra, S.; Nava, G.; Charbonneau, M.; Guedelha, N.; Andradel, F.; Traversaro, S.; Fiorio, L.; Romano, F.; Nori, F.; Metta, G. et al.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Momentum Control of an Underactuated Flying Humanoid Robot

IEEE Robotics and Automation Letters
2018 | Journal article
DOI: 10.1109/LRA.2017.2734245
EID:

2-s2.0-85063311262
Contributors: Pucci, D.; Traversaro, S.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction

IEEE Robotics and Automation Letters
2018 | Journal article
DOI: 10.1109/LRA.2017.2768126
EID:

2-s2.0-85053890855
Contributors: Romano, F.; Nava, G.; Azad, M.; Čamernik, J.; Dafarra, S.; Dermy, O.; Latella, C.; Lazzaroni, M.; Lober, R.; Lorenzini, M. et al.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

A Plenum-Based Calibration Device for Tactile Sensor Arrays

IEEE Robotics and Automation Letters
2018-10 | Journal article
DOI: 10.1109/LRA.2018.2857858
Contributors: Joan Kangro; Anand Vazhapilli Sureshbabu; Silvio Traversaro; Daniele Pucci; Francesco Nori
Source: check_circle
Crossref
grade
Preferred source (of 2)‎

Contact Force and Joint Torque Estimation Using Skin

IEEE Robotics and Automation Letters
2018-10 | Journal article
DOI: 10.1109/LRA.2018.2856914
Contributors: Francisco Javier Andrade Chavez; Joan Kangro; Silvio Traversaro; Francesco Nori; Daniele Pucci
Source: check_circle
Crossref
grade
Preferred source (of 2)‎

A whole-body software abstraction layer for control design of free-floating mechanical systems

Proceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
2017 | Conference paper
DOI: 10.1109/IRC.2017.43
EID:

2-s2.0-85020195890
Contributors: Romano, F.; Traversaro, S.; Pucci, D.; Eljaik, J.; Prete, A.D.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control

Proceedings - IEEE International Conference on Robotics and Automation
2017 | Conference paper
DOI: 10.1109/ICRA.2017.7989472
EID:

2-s2.0-85027965475
Contributors: Rijnen, M.; De Mooij, E.; Traversaro, S.; Nori, F.; Van De Wouw, N.; Saccon, A.; Nijmeijer, H.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw

IEEE-RAS International Conference on Humanoid Robots
2017 | Conference paper
DOI: 10.1109/HUMANOIDS.2017.8246884
EID:

2-s2.0-85044442525
Contributors: Nava, G.; Pucci, D.; Guedelha, N.; Traversaro, S.; Romano, F.; Dafarra, S.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

On Centroidal Dynamics and Integrability of Average Angular Velocity

IEEE Robotics and Automation Letters
2017 | Journal article
DOI: 10.1109/LRA.2017.2655560
Contributors: Alessandro Saccon; Silvio Traversaro; Francesco Nori; Hendrik Nijmeijer
Source: check_circle
Crossref
grade
Preferred source (of 2)‎

Skin normal force calibration using vacuum bags

Proceedings - IEEE International Conference on Robotics and Automation
2017 | Conference paper
DOI: 10.1109/ICRA.2017.7989052
EID:

2-s2.0-85027971676
Contributors: Kangro, J.; Traversaro, S.; Pucci, D.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Incremental semiparametric inverse dynamics learning

Proceedings - IEEE International Conference on Robotics and Automation
2016 | Conference paper
DOI: 10.1109/ICRA.2016.7487177
EID:

2-s2.0-84977490229
Contributors: Camoriano, R.; Traversaro, S.; Rosasco, L.; Metta, G.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier
grade
Preferred source (of 2)‎

Whole-body human inverse dynamics with distributed micro-accelerometers, gyros and force sensing

Sensors (Switzerland)
2016 | Journal article
DOI: 10.3390/ecsa-2-S4004
EID:

2-s2.0-84969508703
Contributors: Latella, C.; Kuppuswamy, N.; Romano, F.; Traversaro, S.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier

Highly dynamic balancing via force control

Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
2016-11 | Conference paper
DOI: 10.1109/HUMANOIDS.2016.7803266
Source: Self-asserted source
Silvio Traversaro

Model Based In Situ Calibration of Six Axis Force Torque Sensors

Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
2016-11 | Conference paper
DOI: 10.1109/HUMANOIDS.2016.7803310
ARXIV: 1610.03305
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 2)‎

Self-calibration of Joint Offsets for Humanoid Robots Using Accelerometer Measurements

Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
2016-11 | Conference paper
DOI: 10.1109/HUMANOIDS.2016.7803427
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 2)‎

Stable bipedal foot planting on uneven terrain through optimal ankle impedance

Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on
2016-11 | Conference paper
DOI: 10.1109/HUMANOIDS.2016.7803270
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 2)‎

Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds

IEEE International Conference on Intelligent Robots and Systems
2016-10 | Conference paper
DOI: 10.1109/IROS.2016.7759801
ARXIV: 1610.08703
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 2)‎

Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing

Sensors
2016-05 | Journal article
DOI: 10.3390/s16050727
Source: check_circle
Multidisciplinary Digital Publishing Institute
grade
Preferred source (of 3)‎

iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts

Frontiers in Robotics and AI
2015 | Journal article
DOI: 10.3389/frobt.2015.00006
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 2)‎

In situ calibration of six-axis force-torque sensors using accelerometer measurements

Proceedings - IEEE International Conference on Robotics and Automation
2015 | Conference paper
DOI: 10.1109/ICRA.2015.7139477
EID:

2-s2.0-84938273457
Contributors: Traversaro, S.; Pucci, D.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier
grade
Preferred source (of 2)‎

Inertial parameters identification and joint torques estimation with proximal force/torque sensing

Proceedings - IEEE International Conference on Robotics and Automation
2015 | Conference paper
DOI: 10.1109/ICRA.2015.7139476
EID:

2-s2.0-84938226217
Contributors: Traversaro, S.; Del Prete, A.; Ivaldi, S.; Nori, F.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier
grade
Preferred source (of 2)‎

Simultaneous state and dynamics estimation in articulated structures

IEEE International Conference on Intelligent Robots and Systems
2015 | Conference paper
DOI: 10.1109/IROS.2015.7353848
EID:

2-s2.0-84958180960
Contributors: Nori, F.; Kuppuswamy, N.; Traversaro, S.
Source: Self-asserted source
Silvio Traversaro via Scopus - Elsevier
grade
Preferred source (of 2)‎

A Generic Testing Framework for Test Driven Development of Robotic Systems

MESAS 2015 : Modeling and Simulation for Autonomous Systems Workshop
2015-04-29 | Conference paper
DOI: 10.1007/978-3-319-22383-4_17
Part of ISBN: 978-3-319-22382-7
Part of ISBN: 978-3-319-22383-7
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 3)‎

Yarp Based Plugins for Gazebo Simulator

Modelling and Simulation for Autonomous Systems: First International Workshop, MESAS 2014, Rome, Italy, May 5-6, 2014, Revised Selected Papers
2014-05-05 | Conference paper
DOI: 10.1007/978-3-319-13823-7_29
Part of ISBN: 978-331913822-0
Part of ISSN: 03029743
EID:

2-s2.0-84927714420

WOSUID:

WOS:000354951100029
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 3)‎

Inertial parameter identification including friction and motor dynamics

2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)
2013-10 | Conference paper
DOI: 10.1109/HUMANOIDS.2013.7029957
Source: Self-asserted source
Silvio Traversaro
grade
Preferred source (of 5)‎

Peer review (5 reviews for 2 publications/grants)

Review activity for Robotics and autonomous systems. (2)
Review activity for SoftwareX. (3)
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