Publications

2017

Agravante, D.J. and Claudio, G. and Spindler, F. and Chaumette, F., Visual servoing in an optimization framework for the whole-body control of humanoid robots, IEEE Robotics and Automation Letters (also presented at ICRA 2017), 2(2):608-615, April 2017. [bib][pdf]


Agravante, D.J. and Chaumette, F., Active vision for pose estimation applied to singularity
avoidance in visual servoing
, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'17, Vancouver, Canada, September 2017.  [bib][pdf]


Caron, S. and Kheddar, A., Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'17, Vancouver, Canada, September 2017.  [bib][pdf]


Mattioli, T. and Vendittelli, M., Interaction force reconstruction for humanoid robots, IEEE Robotics and Automation Letters, 2017 [bib][pdf]


Flacco, F. and De Luca, A., Real-time computation of distance to dynamic obstacles with multiple depth sensors, IEEE Robotics and Automation Letters, 2017 [bib][pdf]

2016

Caron, S. and Kheddar, A., Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016 [bib][pdf]


Ferro, M. and Paolillo, A. and Cherubini, A. and Vendittelli, M., Omnidirectional humanoid navigation in cluttered environments based on optical flow information, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2016 [bib][pdf]


Ireta, F., and Comport, A., A Proof that Fusing Measurements Using Point-to-Hyperplane Registration is Invariant to Relative Scale, Best Student Paper Award, Second Runner-up, IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2016 [bib][pdf]


Ireta, F., and Comport, A., Point-to-hyperplane RGB-D Pose Estimation: Fusing Photometric and Geometric Measurements, Best Student Paper Finalist, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016 [bib][pdf]


Lanari, L. and Urbann, O. and Hutchinson, S. and Schwarz, I., Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model, 20th RoboCup International Symposium, 2016 [bib][pdf]


Agravante, D. J. and Chaumette, F., Combining visual servoing and walking in an acceleration resolved whole-body control framework, Journées Nationales de la Robotique Humanoïde (JNRH), 2016 [bib][pdf]


Henze, B. and Dietrich, A. and Ott, C., An Approach to Combine Balancing with Hierarchical Whole-Body Control for Legged Humanoid Robots, IEEE Robotics and Automation Letters, 2016 [bib][pdf]


Escande, A. and Brossette, S. and Kheddar, A., Parametrization of Catmull-Clark subdivision surfaces for posture generation, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 [bib][pdf]


Cognetti, M. and De Simone, D. and Lanari, L. and Oriolo, G., Real-time planning and execution of evasive motions for a humanoid robot, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 [bib][pdf]


Cognetti, M. and Fioretti, V. and Oriolo, G., Whole-body planning for humanoids along deformable tasks, 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 [bib][pdf]


Buondonno, G. and De Luca. A., Combining real and virtual sensors for measuring interaction forces and moments acting on a robot, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


Lanari, L. and Hutchinson, S., Optimal Double Support Zero Moment Point Trajectories for Bipedal Locomotion, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


Traversaro, S. and Brossette, S. and Escande, A. and Nori, F., Identification of Fully Physical Consistent Inertial Parameters Using Optimization on Manifolds, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


Magrini, E. and De Luca, A., Hybrid force/velocity control for physical human-robot collaboration tasks, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016 [bib][pdf]


Ott, C. and Henze B. and Hettich, G. and Seyde, T. N. and Roa, M. A., and Lippi, V. and Mergner, T., Good Posture, Good Balance: Comparison of Bioinspired and Model-Based Approaches for Posture Control of Humanoid Robots, IEEE Robotics Automation Magazine, 2016 [bib][pdf]


Henze, B. and Roa, M. A. and Ott, C., Passivity-Based Whole-Body Balancing for Torque-Controlled Humanoid Robots in Multi-Contact Scenarios, IJRR, 2016, in print

2015

Sherikov, A. and Dimitrov, D. and Wieber, P.-B., Balancing a humanoid robot with a prioritized contact force distribution, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Cognetti, M. and Mohammadi, P. and Oriolo, G., Whole-body motion planning for humanoids based on CoM movement primitives, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Lanari, L. and Hutchinson, S., Planning desired center of Mass and zero moment point trajectories for bipedal locomotion, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Brossette, S. and Escande, A. and Duchemin, G. and Chretien, B. and Kheddar, A., Humanoid posture generation on non-Euclidean manifolds, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Samy, V. and Kheddar, A., Falls control using posture reshaping and active compliance, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Brasseur, C. and Sherikov, A. and Collette, C. and Dimitrov, D. and Wieber, P.-B., A robust linear MPC approach to online generation of 3D biped walking motion, Humanoid Robots (Humanoids), 2015 IEEE-RAS 15th International Conference on, 2015 [bib][pdf]


Lanari, L. and Hutchinson, S., Inversion-based gait generation for humanoid robots, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015 [bib][pdf]