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ORCIDStefano Dafarra
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2020 – today
- 2022
[j5]Paolo Maria Viceconte
, Raffaello Camoriano, Giulio Romualdi, Diego Ferigo, Stefano Dafarra, Silvio Traversaro, Giuseppe Oriolo, Lorenzo Rosasco, Daniele Pucci:
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots. IEEE Robotics Autom. Lett. 7(2): 2779-2786 (2022)- [i17]Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci:
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. CoRR abs/2203.04489 (2022) - [i16]Stefano Dafarra, Kourosh Darvish, Riccardo Grieco, Gianluca Milani, Ugo Pattacini, Lorenzo Rapetti, Giulio Romualdi, Mattia Salvi, Alessandro Scalzo, Ines Sorrentino, Davide Tomè, Silvio Traversaro, Enrico Valli, Paolo Maria Viceconte, Giorgio Metta, Marco Maggiali, Daniele Pucci:
iCub3 Avatar System. CoRR abs/2203.06972 (2022) - [i15]Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet. CoRR abs/2205.07765 (2022) - [i14]Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. CoRR abs/2205.07835 (2022) - 2021
- [j4]Giulio Romualdi, Stefano Dafarra, Daniele Pucci:
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. IEEE Robotics Autom. Lett. 6(3): 4289-4296 (2021) - [c10]Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. ICRA 2021: 2904-2910 - [i13]Giulio Romualdi, Stefano Dafarra, Daniele Pucci:
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. CoRR abs/2105.14622 (2021) - [i12]Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. CoRR abs/2105.14914 (2021) - 2020
- [j3]Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Stefano Dafarra, Gabriele Nava, Claudia Latella, Daniele Pucci:
Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics. Algorithms 13(10): 266 (2020) - [j2]Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots. Int. J. Humanoid Robotics 17(1): 1950034:1-1950034:25 (2020) - [c9]Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci:
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. ICRA 2020: 1511-1517 - [c8]Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt:
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. IROS 2020: 3884-3891 - [i11]Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci:
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. CoRR abs/2003.04633 (2020) - [i10]Stefano Dafarra:
Predictive Whole-Body Control of Humanoid Robot Locomotion. CoRR abs/2004.07699 (2020) - [i9]Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt:
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. CoRR abs/2004.12083 (2020)
2010 – 2019
- 2019
- [c7]Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci:
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. Humanoids 2019: 671-678 - [c6]Mohamed Elobaid, Yue Hu, Giulio Romualdi, Stefano Dafarra, Jan Babic, Daniele Pucci:
Telexistence and Teleoperation for Walking Humanoid Robots. IntelliSys (2) 2019: 1106-1121 - [i8]Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci:
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. CoRR abs/1909.10403 (2019) - [i7]Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots. CoRR abs/1911.13233 (2019) - 2018
- [j1]Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael N. Mistry, Vincent Padois, Francesco Nori:
The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction. IEEE Robotics Autom. Lett. 3(1): 516-523 (2018) - [c5]Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci:
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. Humanoids 2018: 1-9 - [c4]Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci:
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. IROS 2018: 1-9 - [i6]Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci:
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. CoRR abs/1807.05395 (2018) - [i5]Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci:
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. CoRR abs/1809.02167 (2018) - 2017
- [c3]Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori:
Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw. Humanoids 2017: 263-270 - [c2]Stefano Dafarra, Francesco Romano, Francesco Nori:
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot. RAAD 2017: 297-305 - [i4]Stefano Dafarra, Francesco Romano, Francesco Nori:
Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot. CoRR abs/1705.10579 (2017) - [i3]Stefano Dafarra, Francesco Romano, Francesco Nori:
Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot. CoRR abs/1705.10635 (2017) - [i2]Stefano Dafarra, Francesco Romano, Francesco Nori:
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot. CoRR abs/1705.10638 (2017) - [i1]Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori:
Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw. CoRR abs/1707.09226 (2017) - 2016
- [c1]Stefano Dafarra, Francesco Romano, Francesco Nori:
Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot. Humanoids 2016: 152-157
Coauthor Index
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