Publications

Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci (2023). Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization. 2023 IEEE International Conference on Robotics and Automation (ICRA).

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Gabriele Nava, Daniele Pucci (2023). Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot. International Conference on Robotics and Automation.

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Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci (2022). Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids).

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Fabio Bergonti, Gabriele Nava, Luca Fiorio, Giuseppe L'Erario, Daniele Pucci (2022). Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots. IEEE Transactions on Robotics.

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Affaf Junaid Ahamad Momin, Gabriele Nava, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Fabio Bergonti, Punith Reddy Vanteddu, Francesco Braghin, Daniele Pucci (2022). Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines. International Conference on Robotics and Automation.

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Tong Hui, Antonello Paolino, Gabriele Nava, Giuseppe L'Erario, Fabio Di Natale, Fabio Bergonti, Francesco Braghin, Daniele Pucci (2022). Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots. 2022 International Conference on Robotics and Automation (ICRA).

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Hosameldin Awadalla Omer Mohamed, Gabriele Nava, Giuseppe L'Erario, Silvio Traversaro, Fabio Bergonti, Luca Fiorio, Punith Reddy Vanteddu, Francesco Braghin, Daniele Pucci (2021). Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots. IEEE Robotics and Automation Letters.

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Ahmad Gazar, Gabriele Nava, Francisco Javier Andrade Chavez, Daniele Pucci (2021). Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback. IEEE Transactions on Robotics.

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Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Stefano Dafarra, Gabriele Nava, Claudia Latella, Daniele Pucci (2020). Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics. MDPI Algorithms.

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Gabriele Nava (2020). Instantaneous Momentum-Based Control of Floating Base Systems. Ph.D. Thesis.

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Gabriele Nava, Quentin Sablé, Marco Tognon, Daniele Pucci, Antonio Franchi (2020). Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators. IEEE Robotics and Automation Letters.

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Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Emilio Benenati, Silvio Traversaro, Daniele Pucci (2020). Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics. IEEE Robotics and Automation Letters.

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Yeshasvi Tirupachuri, Gabriele Nava, Lorenzo Rapetti, Claudia Latella, Daniele Pucci (2019). Trajectory Advancement during Human-Robot Collaboration. 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).

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Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci (2019). Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors. International Conference on Robotics and Automation.

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L. Penco, B. Clement, V. Modugno, E. Mingo Hoffman, Gabriele Nava, D. Pucci, Nikos G. Tsagarakis, J. B. Mouret, S. Ivaldi (2018). Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids).

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Gabriele Nava, Luca Fiorio, Silvio Traversaro, Daniele Pucci (2018). Position and Attitude Control of an Underactuated Flying Humanoid Robot. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids).

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Gabriele Nava, Diego Ferigo, Daniele Pucci (2018). Exploiting Friction in Torque Controlled Humanoid Robots. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci (2018). A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Gabriele Nava, Daniele Pucci, Francesco Nori (2017). Momentum control of humanoid robots with series elastic actuators. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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Tong Hui, Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Čamernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babič, Serena Ivaldi, Michael Mistry, Vincent Padois, Francesco Nori (2017). The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction. IEEE Robotics and Automation Letters.

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Valerio Modugno, Gabriele Nava, Daniele Pucci, Francesco Nori, Giuseppe Oriolo, Serena Ivaldi (2017). Safe trajectory optimization for whole-body motion of humanoids. 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids).

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Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori (2017). Modeling and control of humanoid robots in dynamic environments: iCub balancing on a seesaw. 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids).

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Daniele Pucci, Gabriele Nava, Francesco Nori (2016). Automatic gain tuning of a momentum based balancing controller for humanoid robots. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids).

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Gabriele Nava, Francesco Romano, Francesco Nori, Daniele Pucci (2016). Stability analysis and design of momentum-based controllers for humanoid robots. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

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