Gianluca Garofalo

Publication Activity (10 Years)

Years Active: 2012-2024
Publications (10 Years): 22

Top Topics

Disturbance Rejection

Tracking Control

Robotic Manipulator

Top Venues

IEEE Robotics Autom. Lett.

Publications

Gianluca Garofalo
Compliant Hierarchical Control for Arbitrary Equality and Inequality Tasks with Strict and Soft Priorities. CoRR (2024)
Jelmer de Wolde, Luzia Knödler, Gianluca Garofalo, Javier Alonso-Mora
Current-Based Impedance Control for Interacting with Mobile Manipulators. CoRR (2024)
Hrishik Mishra, Gianluca Garofalo, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott, Andreas Kugi
Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications. IEEE Trans. Robotics 39 (2) (2023)
Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich
Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. IEEE Robotics Autom. Lett. 7 (4) (2022)
Gianluca Garofalo, Xuwei Wu, Christian Ott
Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators. IEEE Robotics Autom. Lett. 6 (4) (2021)
Gianluca Garofalo, George Mesesan
A Smooth Uniting Controller for Robotic Manipulators: An Extension of the Adaptive Variance Algorithm (AVA). ACC (2020)
Gianluca Garofalo, Fabian Beck, Julian Klodmann, Christian Ott
On the Control of Translationally Flexible Base Manipulators. ECC (2020)
Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. Robotics: Science and Systems (2020)
Gianluca Garofalo, Christian Ott
Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds. IEEE Robotics Autom. Lett. 5 (4) (2020)
Gianluca Garofalo, Alexander Werner, Florian Loeffl, Christian Ott
Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. IEEE Control. Syst. Lett. 3 (1) (2019)
Fabian Beck, Gianluca Garofalo, Christian Ott
Vibration Control for Manipulators on a Translationally Flexible Base. ICRA (2019)
Gianluca Garofalo, Nico Mansfeld, Julius Jankowski, Christian Ott
Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. ICRA (2019)
George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. Humanoids (2019)
Gianluca Garofalo, Fabian Beck, Christian Ott
Task-space Tracking Control for Underactuated Aerial Manipulators. ECC (2018)
Gianluca Garofalo, Christian Ott
Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control. SyRoCo (2018)
Alessandro M. Giordano, Gianluca Garofalo, Alin Albu-Schäffer
Momentum dumping for space robots. CDC (2017)
Gianluca Garofalo, Christian Ott
Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation. HFR (2017)
Hamid Sadeghian, Christian Ott, Gianluca Garofalo, Gordon Cheng
Passivity-based control of underactuated biped robots within hybrid zero dynamics approach. ICRA (2017)
Gianluca Garofalo, Christian Ott
Energy Based Limit Cycle Control of Elastically Actuated Robots. IEEE Trans. Autom. Control. 62 (5) (2017)
Alessandro M. Giordano, Gianluca Garofalo, Marco De Stefano, Christian Ott, Alin Albu-Schäffer
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. CDC (2016)
Gianluca Garofalo, Christian Ott
Limit Cycle Control Using Energy Function Regulation With Friction Compensation. IEEE Robotics Autom. Lett. 1 (1) (2016)
Gianluca Garofalo, Johannes Englsberger, Christian Ott
On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations. ACC (2015)
Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer
Jumping control for compliantly actuated multilegged robots. ICRA (2014)
Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer
Overview of the torque-controlled humanoid robot TORO. Humanoids (2014)
Bernd Henze, Alexander Werner, Máximo A. Roa, Gianluca Garofalo, Johannes Englsberger, Christian Ott
Control applications of TORO - A Torque controlled humanoid robot. Humanoids (2014)
Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. ACC (2013)
Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, Alin Albu-Schäffer
Modal limit cycle control for variable stiffness actuated robots. ICRA (2013)
Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
On the closed form computation of the dynamic matrices and their differentiations. IROS (2013)
Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer
Walking control of fully actuated robots based on the Bipedal SLIP model. ICRA (2012)