Gabriele Nava
  • Bio
  • Experience
  • Skills
  • Projects
  • Publications
  • Publications
    • From cad to urdf: Co-design of a jet-powered humanoid robot including cad geometry,
    • Learning to Walk and Fly with Adversarial Motion Priors
    • Co-design optimisation of morphing topology and control of winged drones
    • Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots
    • Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot
    • Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
    • Whole-Body Trajectory Optimization for Robot Multimodal Locomotion
    • Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots
    • Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots
    • Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines
    • Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots
    • Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback
    • Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics
    • Towards Partner-Aware Humanoid Robot Control Under Physical Interactions
    • Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators
    • Instantaneous Momentum-Based Control of Floating Base Systems
    • Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics
    • Trajectory Advancement during Human-Robot Collaboration
    • Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors
    • Position and Attitude Control of an Underactuated Flying Humanoid Robot
    • Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid
    • A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots
    • Exploiting Friction in Torque Controlled Humanoid Robots
    • Momentum control of humanoid robots with series elastic actuators
    • Modeling and control of humanoid robots in dynamic environments: iCub balancing on a seesaw
    • Safe trajectory optimization for whole-body motion of humanoids
    • The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction
    • Automatic gain tuning of a momentum based balancing controller for humanoid robots
    • Stability analysis and design of momentum-based controllers for humanoid robots
  • Projects
    • 🤖 Aerial Humanoid Robotics
    • 💡 GitHub-Projects
    • 🚀 iRonCub-Mk1-Software
    • 🎥 Ph.D. Thesis Videos
    • 🔨 Whole-Body-Controllers

🔨 Whole-Body-Controllers

Jan 1, 2020 · 1 min read
Go to Project Site

Simulink-based whole-body balancing controllers for humanoid robots.

Last updated on Jan 1, 2020
Force/Torque Control Robotics Jet Engines Qp Matlab Simulink Cpp Python
Gabriele Nava
Authors
Gabriele Nava
PostDoc Researcher, Robotics Engineer
← 🎥 Ph.D. Thesis Videos Jan 1, 2020

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