Daniele Pucci
Istituto Italiano di Tecnologia
収録論文 89本 ・ フィジカルAI/ロボット学習
ナビゲーション
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- CoCoNav: 群衆中の安全なロボットナビゲーションのためのコンフォーマル制御ナビゲーション2026/8/7
群衆中のロボットナビゲーションにおいて、予測誤差の不確実性をオンラインで調整するコンフォーマル制御と、実行前に安全性を検証するプランナーを組み合わせたフレームワークを提案した。
- CoCoNav: Conformal Control for Safe Robot Navigation in Crowds2026/8/1
- SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning2026/7/13
- SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning2026/7/1
- Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot2026/5/1
- CAD-Driven Co-Design for Flight-Ready Jet-Powered Humanoids2025/9/1
- Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering2025/9/1
- A Framework for Optimal Ankle Design of Humanoid Robots2025/9/1
- Data-fused MPC with Guarantees: Application to Flying Humanoid Robots2025/9/1
- Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots2025/7/1
- Learning to Evaluate Autonomous Behaviour in Human-Robot Interaction2025/7/1
- Learning Aerodynamics for the Control of Flying Humanoid Robots2025/6/1
- iRonCub 3: The Jet-Powered Flying Humanoid Robot2025/6/1
- Unified Multi-Rate Model Predictive Control for a Jet-Powered Humanoid Robot2025/5/1
- From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry2024/10/1
- Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment2024/10/1
- Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives2024/10/1
- Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots2024/9/1
- Remote telepresence over large distances via robot avatars: case studies2024/9/1
- Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques2024/9/1
- XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration2024/6/1
- A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details2024/5/1
- UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots2024/2/1
- Analysis and Perspectives on the ANA Avatar XPRIZE Competition2024/1/1
- Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots2023/12/1
- Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization2023/12/1
- Co-Design Optimisation of Morphing Topology and Control of Winged Drones2023/9/1
- Learning to Walk and Fly with Adversarial Motion Priors2023/9/1
- A Structured Prediction Approach for Robot Imitation Learning2023/9/1
- Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot2023/5/1
- Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization2023/5/1
- A Control Approach for Human-Robot Ergonomic Payload Lifting2023/5/1
- Torque Control with Joints Position and Velocity Limits Avoidance2023/3/1
- Simultaneous Action Recognition and Human Whole-Body Motion and Dynamics Prediction from Wearable Sensors2023/3/1
- Teleoperation of Humanoid Robots: A Survey2023/1/1
- Whole-Body Trajectory Optimization for Robot Multimodal Locomotion2022/11/1
- A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground2022/11/1
- Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting2022/11/1
- Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion2022/7/1
- Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot2022/7/1
- Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots2022/7/1
- An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet2022/5/1
- Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots2022/5/1
- Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines2022/5/1
- Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter2022/5/1
- An Integrated Programmable CPG with Bounded Output2022/4/1
- Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics2022/4/1
- iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots2022/3/1
- Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment2022/3/1
- DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups2021/5/1
- Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control2021/5/1
- On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning2021/4/1
- Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization2021/4/1
- A Plenum-Based Calibration Device for Tactile Sensor Arrays2021/3/1
- In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects2021/3/1
- Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas2020/4/1
- Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach2020/3/1
- Recent Advances in Human-Robot Collaboration Towards Joint Action2020/1/1
- A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots2019/11/1
- Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning2019/11/1
- Trajectory Advancement for Robot Stand-up with Human Assistance2019/10/1
- Model-Based Real-Time Motion Tracking using Dynamical Inverse Kinematics on SO(3)2019/9/1
- Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics2019/9/1
- Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots2019/9/1
- Whole-Body Geometric Retargeting for Humanoid Robots2019/9/1
- Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback2019/7/1
- Trajectory Advancement during Human-Robot Collaboration2019/7/1
- Identification of Motor Parameters on Coupled Joints2019/6/1
- A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers2019/6/1
- Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors2018/12/1
- Telexistence and Teleoperation for Walking Humanoid Robots2018/9/1
- A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots2018/9/1
- Towards Partner-Aware Humanoid Robot Control Under Physical Interactions2018/9/1
- Momentum-Based Topology Estimation of Articulated Objects2018/8/1
- A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots2018/7/1
- Exploiting Friction in Torque Controlled Humanoid Robots2018/3/1
- Contact Force and Joint Torque Estimation Using Skin2017/9/1
- Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw2017/7/1
- An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot2017/7/1
- Momentum Control of Humanoid Robots with Series Elastic Actuators2017/3/1
- Momentum Control of an Underactuated Flying Humanoid Robot2017/2/1
- A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems2017/1/1
- Automatic Gain Tuning of a Momentum Based Balancing Controller for Humanoid Robots2016/10/1
- The Static Center of Pressure Sensitivity: a further Criterion to assess Contact Stability and Balancing Controllers2016/10/1
- Model Based In Situ Calibration of Six Axis Force Torque Sensors2016/10/1
- Skin Normal Force Calibration Using Vacuum Bags2016/9/1
- On-line Joint Limit Avoidance for Torque Controlled Robots by Joint Space Parametrization2016/8/1
- Stability Analysis and Design of Momentum-based Controllers for Humanoid Robots2016/3/1
- In Situ Calibration of Six-Axes Force Torque Sensors using Accelerometer Measurements2014/10/1