Enrico Mingo Hoffman

Publication Activity (10 Years)

Years Active: 2014-2023
Publications (10 Years): 60

Top Topics

Impedance Control

Inverse Kinematics

Predictive Control

Top Venues

IEEE Robotics Autom. Lett.

Publications

Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, Alessio Margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis
Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. ICRA (2023)
Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, Alessio Margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis
Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. CoRR (2023)
Enrico Mingo Hoffman, Andrea Curti, Narcís Miguel, Sai Kishor Kothakota, Alberto Molina, Adria Roig, Luca Marchionni
Modeling and Numerical Analysis of Kangaroo Lower Body based on Constrained Dynamics of Hybrid Serial-Parallel Floating-Base Systems. CoRR (2023)
Paolo Ferrari, Luca Rossini, Francesco Ruscelli, Arturo Laurenzi, Giuseppe Oriolo, Nikos G. Tsagarakis, Enrico Mingo Hoffman
Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. Robotics Auton. Syst. 166 (2023)
Federico Rollo, Gennaro Raiola, Nikolaos G. Tsagarakis, Marco Roveri, Enrico Mingo Hoffman, Arash Ajoudani
Semantic-based Loco-Manipulation for Human-Robot Collaboration in Industrial Environments. CoRR (2023)
Luca Rossini, Enrico Mingo Hoffman, SeungHyeon Bang, Luis Sentis, Nikos G. Tsagarakis
A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance. Humanoids (2023)
Federico Rollo, Andrea Zunino, Nikolaos G. Tsagarakis, Enrico Mingo Hoffman, Arash Ajoudani
CARPE-ID: Continuously Adaptable Re-identification for Personalized Robot Assistance. CoRR (2023)
Enrico Mingo Hoffman, Chengxu Zhou, Matteo Parigi Polverini
Editorial: Advancements in trajectory optimization and model predictive control for legged systems. Frontiers Robotics AI 9 (2022)
Juan Alejandro Castano, Joseph Humphreys, Enrico Mingo Hoffman, Noelia Fernández Talavera, Maria Cristina Rodriguez-Sánchez, Chengxu Zhou
Benchmarking Dynamic Balancing Controllers for Humanoid Robots. Robotics 11 (5) (2022)
Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman
WoLF: the Whole-body Locomotion Framework for Quadruped Robots. CoRR (2022)
Enrico Mingo Hoffman, Chengxu Zhou, Matteo Parigi Polverini
Editorial: Advancements in trajectory optimization and model predictive control for legged systems. Future Internet 9 (2022)
Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
Horizon: A Trajectory Optimization Framework for Robotic Systems. Future Internet 9 (2022)
Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
Prototyping fast and agile motions for legged robots with Horizon. CoRR (2022)
Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
Horizon: A Trajectory Optimization Framework for Robotic Systems. Frontiers Robotics AI 9 (2022)
Luca Rossini, Paolo Ferrari, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. CoRR (2022)
Eamon Barrett, Enrico Mingo Hoffman, Lorenzo Baccelliere, Nikos G. Tsagarakis
Mechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms. AIM (2021)
Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. ICRA (2021)
Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. HUMANOIDS (2021)
Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. Frontiers Robotics AI 8 (2021)
Enrico Mingo Hoffman, Antonio Paolillo
Exploiting visual servoing and centroidal momentum for whole-body motion control of humanoid robots in absence of contacts and gravity. ICRA (2021)
Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis
Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. CoRR (2021)
Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. ICRA (2021)
Enrico Mingo Hoffman, Nikos G. Tsagarakis
The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification. Int. J. Humanoid Robotics 18 (3) (2021)
Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. CoRR (2021)
Luca Rossini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. Frontiers Robotics AI 8 (2021)
Luigi Penco, Enrico Mingo Hoffman, Valerio Modugno, Waldez Gomes, Jean-Baptiste Mouret, Serena Ivaldi
Learning Robust Task Priorities and Gains for Control of Redundant Robots. IEEE Robotics Autom. Lett. 5 (2) (2020)
Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini
A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. Frontiers Robotics AI 7 (2020)
Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. IEEE Robotics Autom. Mag. 27 (3) (2020)
Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. IEEE Robotics Autom. Lett. 5 (1) (2020)
Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. IEEE Robotics Autom. Lett. 5 (2) (2020)
Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Francesco Ruscelli, Nikos G. Tsagarakis
Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. IEEE Robotics Autom. Lett. 5 (2) (2020)
Francesco Ruscelli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. IROS (2020)
Tobias Klamt, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo Hoffman, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Diego Rodriguez, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Juergen Rossmann, Lorenzo Baccelliere, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist
Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. IEEE Robotics Autom. Mag. 26 (4) (2019)
Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. IEEE Robotics Autom. Lett. 4 (2) (2019)
Pouya Mohammadi, Enrico Mingo Hoffman, Niels Dehio, Milad S. Malekzadeh, Martin A. Giese, Nikos G. Tsagarakis, Jochen J. Steil
Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality. IEEE Robotics Autom. Mag. 26 (4) (2019)
Enrico Mingo Hoffman, Stéphane Caron, Francesco Ferro, Luis Sentis, Nikos G. Tsagarakis
Developing Humanoid Robots for Applications in Real-World Scenarios [From the Guest Editors]. IEEE Robotics Autom. Mag. 26 (4) (2019)
Pouya Mohammadi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis, Jochen J. Steil
Reactive Walking Based on Upper-Body Manipulability: An application to Intention Detection and Reaction. ICRA (2019)
Arturo Laurenzi, Dimitrios Kanoulas, Enrico Mingo Hoffman, Luca Muratore, Nikolaos G. Tsagarakis
Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot. IRC (2019)
Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo Hoffman, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke
Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System. CoRR (2019)
Navvab Kashiri, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula, Giuseppe Francesco Rigano, Jörn Malzahn, Stefano Cordasco, Paolo Guria, Alessio Margan, Nikos G. Tsagarakis
CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. IEEE Robotics Autom. Lett. 4 (2) (2019)
Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. IROS (2019)
Arturo Laurenzi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis
CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. ICRA (2019)
Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. IROS (2018)
Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. IROS (2018)
L. Peneo, B. Clement, V. Moduano, Enrico Mingo Hoffman, Gabriele Nava, Daniele Pucci, Nikos G. Tsagarakis, J.-B. Mourert, Serena Ivaldi
Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid. Humanoids (2018)
Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. ICRA (2018)
Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
Balancing Control Through Post-Optimization of Contact Forces. Humanoids (2018)
Juan Alejandro Castano, Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Malgorzata Karnedula, Nikos G. Tsagarakis
A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. ICRA (2018)
Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
A mixed real-time robot hardware abstraction layer (R-HAL). Encycl. Semantic Comput. Robotic Intell. 2 (1) (2018)
Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis, Darwin G. Caldwell
Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. ICRA (2018)
Dennis Leroy Wigand, Pouya Mohammadi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Jochen J. Steil, Sebastian Wrede
An open-source architecture for simulation, execution and analysis of real-time robotics systems. SIMPAR (2018)
Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. IRC (2018)
Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin G. Caldwell, Nikos G. Tsagarakis
XBotCore: A Real-Time Cross-Robot Software Platform. IRC (2017)
Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alberto Cardellino, Alessio Rocchi, Enrico Mingo Hoffman, Corrado Pavan, Dimitrios Kanoulas, Nikos G. Tsagarakis, Lorenzo Natale, Lucia Pallottino
Corrigendum: The Walk-Man Robot Software Architecture. Frontiers Robotics AI 4 (2017)
Enrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi, Nikos G. Tsagarakis
Robot control for dummies: Insights and examples using OpenSoT. Humanoids (2017)
Nikolaos G. Tsagarakis, Darwin G. Caldwell, Francesca Negrello, Wooseok Choi, Lorenzo Baccelliere, Vo-Gia Loc, J. Noorden, Luca Muratore, Alessio Margan, Alberto Cardellino, Lorenzo Natale, Enrico Mingo Hoffman, Houman Dallali, Navvab Kashiri, Jörn Malzahn, Jinoh Lee, Przemyslaw Kryczka, Dimitrios Kanoulas, Manolo Garabini, Manuel G. Catalano, Mirko Ferrati, Valerio Varricchio, Lucia Pallottino, Corrado Pavan, Antonio Bicchi, Alessandro Settimi, Alessio Rocchi, Arash Ajoudani
WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments. J. Field Robotics 34 (7) (2017)
Peter Kaiser, Dimitrios Kanoulas, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Tamim Asfour
An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. Humanoids (2016)
Enrico Mingo Hoffman, Alessio Rocchi, Nikos G. Tsagarakis, Darwin G. Caldwell
Robot Dynamics Constraint for Inverse Kinematics. ARK (2016)
Cheng Fang, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Darwin G. Caldwell
Efficient self-collision avoidance based on focus of interest for humanoid robots. Humanoids (2015)
Alessio Rocchi, Enrico Mingo Hoffman, Darwin G. Caldwell, Nikos G. Tsagarakis
OpenSoT: A whole-body control library for the compliant humanoid robot COMAN. ICRA (2015)
Arash Ajoudani, Jinoh Lee, Alessio Rocchi, Mirko Ferrati, Enrico Mingo Hoffman, Alessandro Settimi, Darwin G. Caldwell, Antonio Bicchi, Nikos G. Tsagarakis
A manipulation framework for compliant humanoid COMAN: Application to a valve turning task. Humanoids (2014)
Enrico Mingo Hoffman, Silvio Traversaro, Alessio Rocchi, Mirko Ferrati, Alessandro Settimi, Francesco Romano, Lorenzo Natale, Antonio Bicchi, Francesco Nori, Nikos G. Tsagarakis
Yarp Based Plugins for Gazebo Simulator. MESAS (2014)
Jinoh Lee, Arash Ajoudani, Enrico Mingo Hoffman, Alessio Rocchi, Alessandro Settimi, Mirko Ferrati, Antonio Bicchi, Nikolaos G. Tsagarakis, Darwin G. Caldwell
Upper-body impedance control with variable stiffness for a door opening task. Humanoids (2014)
Alessandro Settimi, Corrado Pavan, Valerio Varricchio, Mirko Ferrati, Enrico Mingo Hoffman, Alessio Rocchi, Kamilo Melo, Nikos G. Tsagarakis, Antonio Bicchi
A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios. MESAS (2014)