Published
2020
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D. Ferigo et al., A generic synchronous dataflow architecture to rapidly prototype and deploy robot controllers, International Journal of Advanced Robotic Systems 17. ABSTRACT DOI WWW -
I. Sorrentino et al., A novel sensorised insole for sensing feet pressure distributions, Sensors 20, 747. ABSTRACT DOI PDF -
G. L’Erario et al., Modeling, identification and control of model jet engines for jet powered robotics, IEEE Robotics and Automation Letters, 1–1. ABSTRACT DOI PDF
2019
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F.J.A. Chavez, S. Traversaro, & D. Pucci, Six-axis force torque sensor model-based in situ calibration method and its impact in floating-based robot dynamic performance, Sensors 19, 5521. ABSTRACT DOI PDF -
D. Romeres et al., Derivative-free online learning of inverse dynamics models, IEEE Transactions on Control Systems Technology, 1–15. ABSTRACT DOI PDF -
C. Latella et al., Simultaneous floating-base estimation of human kinematics and joint torques, Sensors. ABSTRACT DOI PDF
2018
2017
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S. Traversaro, [Modelling, Estimation and Identification of Humanoid Robots Dynamics]{.nocase}, Ph.D. dissertation. (University of Genoa). Thesis ABSTRACT DOI PDF -
A. Saccon et al., On centroidal dynamics and integrability of average angular velocity, [IEEE Robotics and Automation Letters]{.nocase} 2, 943–950. ABSTRACT DOI PDF
2016
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D. Pucci et al., Highly dynamic balancing via force control, in 2016 Ieee-Ras 16th International Conference on Humanoid Robots (Humanoids), 141-141 . ABSTRACT DOI -
F.J.A. Chavez et al., Model based in situ calibration of six axis force torque sensors, in 2016 Ieee-Ras 16th International Conference on Humanoid Robots (Humanoids), 422-427 . ABSTRACT DOI -
N. Guedelha et al., Self-calibration of joint offsets for humanoid robots using accelerometer measurements, in 2016 Ieee-Ras 16th International Conference on Humanoid Robots (Humanoids), 1233-1238 . ABSTRACT DOI -
F. Romano et al., Stable bipedal foot planting on uneven terrain through optimal ankle impedance, in 2016 Ieee-Ras 16th International Conference on Humanoid Robots (Humanoids), 146-151 . ABSTRACT DOI -
S. Traversaro et al., Identification of fully physical consistent inertial parameters using optimization on manifolds, in IEEE International Conference on Intelligent Robots and Systems . ABSTRACT DOI WWW -
R. Camoriano et al., Incremental semiparametric inverse dynamics learning, Proceedings - IEEE International Conference on Robotics and Automation 2016-June, 544–550. ABSTRACT -
C. Latella et al., Whole-body human inverse dynamics with distributed micro-accelerometers, gyros and force sensing, Sensors (Switzerland) 16. ABSTRACT DOI WWW
2015
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F. Nori, N. Kuppuswamy, & S. Traversaro, Simultaneous state and dynamics estimation in articulated structures, in [2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)]{.nocase}, 3380-3386 . ABSTRACT DOI -
S. Traversaro, D. Pucci, & F. Nori, In situ calibration of six-axis force-torque sensors using accelerometer measurements, in 2015 Ieee International Conference on Robotics and Automation (Icra), 2111-2116 . ABSTRACT DOI PDF -
S. Traversaro et al., Inertial parameters identification and joint torques estimation with proximal force/torque sensing, in [2015 IEEE International Conference on Robotics and Automation (ICRA)]{.nocase}, 2105-2110 . ABSTRACT DOI PDF -
A. Paikan et al., A generic testing framework for test driven development of robotic systems, in Modelling and Simulation for Autonomous Systems, 216–225 (Springer International Publishing). ABSTRACT DOI PDF -
F. Nori et al., ICub whole-body control through force regulation on rigid noncoplanar contacts, [Frontiers in Robotics and AI]{.nocase} 2. ABSTRACT DOI PDF
2014
My field of research is the in estimation, control and motion planning of robots, in particular force-controlled humanoids. In my work I tackle the scientific and technological challenges that prevent robots to physically interact naturally with the surrounding environment and with humans.
Since 2013 I was deeply involved with the development and maintenance of the iCub humanoid robot, gaining a multidisciplinary experience by interacting with fields such as mechanical engineering, embedded programming and machine learning.
I mantain several open source tools used in my work at the IIT, including the robot dynamics C++ library iDynTree, the set of plugins for the Gazebo simulator gazebo-yarp-plugins and the CMake-based distribution of IIT software robotology-superbuild.
Curriculum Vitae PDF