Silvio Traversaro

Publication Activity (10 Years)

Years Active: 2013-2024
Publications (10 Years): 79

Top Topics

Inverse Dynamics

Imitation Learning

Top Venues

IEEE Robotics Autom. Lett.

Publications

Stefano Dafarra, Ugo Pattacini, Giulio Romualdi, Lorenzo Rapetti, Riccardo Grieco, Kourosh Darvish, Gianluca Milani, Enrico Valli, Ines Sorrentino, Paolo Maria Viceconte, Alessandro Scalzo, Silvio Traversaro, Carlotta Sartore, Mohamed Elobaid, Nuno Guedelha, Connor W. Herron, Alexander Leonessa, Francesco Draicchio, Giorgio Metta, Marco Maggiali, Daniele Pucci
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. Sci. Robotics 9 (86) (2024)
Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro, Pietro Morerio, Alessio Del Bue, Daniele Pucci
XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration. CoRR (2024)
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details. CoRR (2024)
Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. CoRR (2023)
Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. Humanoids (2023)
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. Humanoids (2022)
Stefano Dafarra, Kourosh Darvish, Riccardo Grieco, Gianluca Milani, Ugo Pattacini, Lorenzo Rapetti, Giulio Romualdi, Mattia Salvi, Alessandro Scalzo, Ines Sorrentino, Davide Tomè, Silvio Traversaro, Enrico Valli, Paolo Maria Viceconte, Giorgio Metta, Marco Maggiali, Daniele Pucci
iCub3 Avatar System. CoRR (2022)
Martijn Bos, Silvio Traversaro, Daniele Pucci, Alessandro Saccon
Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics. CoRR (2022)
Hosameldin Awadalla Omer Mohamed, Gabriele Nava, Giuseppe L'Erario, Silvio Traversaro, Fabio Bergonti, Luca Fiorio, Punith Reddy Vanteddu, Francesco Braghin, Daniele Pucci
Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots. IEEE Robotics Autom. Lett. 7 (1) (2022)
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground. CoRR (2022)
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. CoRR (2022)
Paolo Maria Viceconte, Raffaello Camoriano, Giulio Romualdi, Diego Ferigo, Stefano Dafarra, Silvio Traversaro, Giuseppe Oriolo, Lorenzo Rosasco, Daniele Pucci
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots. IEEE Robotics Autom. Lett. 7 (2) (2022)
Nuno Guedelha, Venus Pasandi, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci
A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground. IRC (2022)
Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. ICRA (2022)
Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. CoRR (2022)
Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet. CoRR (2022)
Tobias Fischer, Wolf Vollprecht, Silvio Traversaro, Sean Yen, Carlos Herrero, Michael Milford
A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems. IEEE Robotics Autom. Mag. 29 (2) (2022)
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet. IROS (2022)
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. ICRA (2021)
Yeshasvi Tirupachuri, Prashanth Ramadoss, Lorenzo Rapetti, Claudia Latella, Kourosh Darvish, Silvio Traversaro, Daniele Pucci
Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment. IEEE Access 9 (2021)
Diego Ferigo, Raffaello Camoriano, Paolo Maria Viceconte, Daniele Calandriello, Silvio Traversaro, Lorenzo Rosasco, Daniele Pucci
On the Emergence of Whole-Body Strategies From Humanoid Robot Push-Recovery Learning. IEEE Robotics Autom. Lett. 6 (4) (2021)
Diego Ferigo, Raffaello Camoriano, Paolo Maria Viceconte, Daniele Calandriello, Silvio Traversaro, Lorenzo Rosasco, Daniele Pucci
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning. CoRR (2021)
Joan Kangro, Anand Vazhapilli Sureshbabu, Silvio Traversaro, Daniele Pucci, Francesco Nori
A Plenum-Based Calibration Device for Tactile Sensor Arrays. CoRR (2021)
Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi, Marco Maggiali, Lorenzo Natale, Daniele Pucci, Silvio Traversaro
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects. ICRA (2021)
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. CoRR (2021)
Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi, Marco Maggiali, Lorenzo Natale, Daniele Pucci, Silvio Traversaro
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects. CoRR (2021)
Tobias Fischer, Wolf Vollprecht, Silvio Traversaro, Sean Yen, Carlos Herrero, Michael Milford
RoboStack: Using the Robot Operating System alongside the Conda and Jupyter Data Science Ecosystems. CoRR (2021)
Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Emilio Benenati, Silvio Traversaro, Daniele Pucci
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics. IEEE Robotics Autom. Lett. 5 (2) (2020)
Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella, Luca Fiorio, Silvio Traversaro, Lorenzo Rapetti, Yeshasvi Tirupachuri, Nuno Guedelha, Marco Maggiali, Simeone Dussoni, Giorgio Metta, Daniele Pucci
A Novel Sensorised Insole for Sensing Feet Pressure Distributions. Sensors 20 (3) (2020)
Diego Ferigo, Silvio Traversaro, Giorgio Metta, Daniele Pucci
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning. SII (2020)
Diego Romeres, Mattia Zorzi, Raffaello Camoriano, Silvio Traversaro, Alessandro Chiuso
Derivative-Free Online Learning of Inverse Dynamics Models. IEEE Trans. Control. Syst. Technol. 28 (3) (2020)
Angelo Rendiniello, Alberto Remus, Ines Sorrentino, Prajval Kumar Murali, Daniele Pucci, Marco Maggiali, Lorenzo Natale, Silvio Traversaro, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi
A Flexible Software Architecture for Robotic Industrial Applications. ETFA (2020)
Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots. Int. J. Humanoid Robotics 17 (1) (2020)
Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Silvio Traversaro, Daniele Pucci
Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics. CoRR (2019)
Diego Ferigo, Silvio Traversaro, Francesco Romano, Daniele Pucci
A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers. CoRR (2019)
Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance. Sensors 19 (24) (2019)
Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots. CoRR (2019)
Nuno Guedelha, Silvio Traversaro, Daniele Pucci
Identification of Motor Parameters on Coupled Joints. CoRR (2019)
Claudia Latella, Silvio Traversaro, Diego Ferigo, Yeshasvi Tirupachuri, Lorenzo Rapetti, Francisco Javier Andrade Chavez, Francesco Nori, Daniele Pucci
Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques. Sensors 19 (12) (2019)
Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors. ICRA (2019)
Daniele E. Domenichelli, Silvio Traversaro, Luca Muratore, Alessio Rocchi, Francesco Nori, Lorenzo Natale
A Build System for Software Development in Robotic Academic Collaborative Environments. Int. J. Semantic Comput. 13 (2) (2019)
Ines Sorrentino, Francisco Javier Andrade Chavez, Claudia Latella, Luca Fiorio, Silvio Traversaro, Lorenzo Rapetti, Yeshasvi Tirupachuri, Marco Maggiali, Simeone Dussoni, Giorgio Metta, Daniele Pucci
A Novel Sensorized Skin Insole for Sensing Feet Pressure Distributions. CoRR (2019)
Claudia Latella, Marta Lorenzini, Maria Lazzaroni, Francesco Romano, Silvio Traversaro, M. Ali Akhras, Daniele Pucci, Francesco Nori
Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms - A physical human-robot interaction case study. Auton. Robots 43 (6) (2019)
Nuno Guedelha, Silvio Traversaro, Daniele Pucci
Identification of Motor Parameters on Coupled Joints. IntelliSys (2) (2019)
Diego Ferigo, Silvio Traversaro, Daniele Pucci
Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning. CoRR (2019)
Yeshasvi Tirupachuri, Silvio Traversaro, Francesco Nori, Daniele Pucci
Momentum-Based Topology Estimation of Articulated Objects. IntelliSys (2) (2019)
Yeshasvi Tirupachuri, Silvio Traversaro, Francesco Nori, Daniele Pucci
Momentum-Based Topology Estimation of Articulated Objects. CoRR (2018)
Gabriele Nava, Luca Fiorio, Silvio Traversaro, Daniele Pucci
Position and Attitude Control of an Underactuated Flying Humanoid Robot. Humanoids (2018)
Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. CoRR (2018)
Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci
Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors. CoRR (2018)
Diego Romeres, Mattia Zorzi, Raffaello Camoriano, Silvio Traversaro, Alessandro Chiuso
Derivative-free online learning of inverse dynamics models. CoRR (2018)
Daniele E. Domenichelli, Silvio Traversaro, Luca Muratore, Alessio Rocchi, Francesco Nori, Lorenzo Natale
A Build System for Software Development in Robotic Academic Collaborative Environments. IRC (2018)
Daniele Pucci, Silvio Traversaro, Francesco Nori
Momentum Control of an Underactuated Flying Humanoid Robot. IEEE Robotics Autom. Lett. 3 (1) (2018)
Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci
Contact Force and Joint Torque Estimation Using Skin. IEEE Robotics Autom. Lett. 3 (4) (2018)
Joan Kangro, Anand Vazhapilli Sureshbabu, Silvio Traversaro, Daniele Pucci, Francesco Nori
A Plenum-Based Calibration Device for Tactile Sensor Arrays. IEEE Robotics Autom. Lett. 3 (4) (2018)
Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael N. Mistry, Vincent Padois, Francesco Nori
The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction. IEEE Robotics Autom. Lett. 3 (1) (2018)
Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci
A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. IROS (2018)
Alessandro Saccon, Silvio Traversaro, Francesco Nori, Henk Nijmeijer
On Centroidal Dynamics and Integrability of Average Angular Velocity. CoRR (2017)
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori
A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems. CoRR (2017)
Mark Rijnen, Eric de Mooij, Silvio Traversaro, Francesco Nori, Nathan van de Wouw, Alessandro Saccon, Henk Nijmeijer
Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control. ICRA (2017)
Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori
Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw. Humanoids (2017)
Francesco Romano, Silvio Traversaro, Daniele Pucci, Jorhabib Eljaik, Andrea Del Prete, Francesco Nori
A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems. IRC (2017)
Daniele Pucci, Silvio Traversaro, Francesco Nori
Momentum Control of an Underactuated Flying Humanoid Robot. CoRR (2017)
Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci
Contact Force and Joint Torque Estimation Using Skin. CoRR (2017)
Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori
Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw. CoRR (2017)
Alessandro Saccon, Silvio Traversaro, Francesco Nori, Henk Nijmeijer
On Centroidal Dynamics and Integrability of Average Angular Velocity. IEEE Robotics Autom. Lett. 2 (2) (2017)
Joan Kangro, Silvio Traversaro, Daniele Pucci, Francesco Nori
Skin normal force calibration using vacuum bags. ICRA (2017)
Daniele Pucci, Francesco Romano, Silvio Traversaro, Francesco Nori
Highly dynamic balancing via force control. Humanoids (2016)
Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci, Francesco Nori
Model Based In Situ Calibration of Six Axis Force Torque Sensors. CoRR (2016)
Francesco Romano, Daniele Pucci, Silvio Traversaro, Francesco Nori
The Sensitivity of the Static Center of Pressure as a Criterion to assess Balancing Controllers Performance. CoRR (2016)
Silvio Traversaro, Stanislas Brossette, Adrien Escande, Francesco Nori
Identification of fully physical consistent inertial parameters using optimization on manifolds. IROS (2016)
Raffaello Camoriano, Silvio Traversaro, Lorenzo Rosasco, Giorgio Metta, Francesco Nori
Incremental Semiparametric Inverse Dynamics Learning. CoRR (2016)
Nuno Guedelha, Naveen Kuppuswamy, Silvio Traversaro, Francesco Nori
Self-calibration of joint offsets for humanoid robots using accelerometer measurements. Humanoids (2016)
Claudia Latella, Naveen Kuppuswamy, Francesco Romano, Silvio Traversaro, Francesco Nori
Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing. Sensors 16 (5) (2016)
Francesco Romano, Naveen Kuppuswamy, Matteo Ciocca, Silvio Traversaro, Francesco Nori
Stable bipedal foot planting on uneven terrain through optimal ankle impedance. Humanoids (2016)
Joan Kangro, Silvio Traversaro, Daniele Pucci, Francesco Nori
Skin Normal Force Calibration Using Vacuum Bags. CoRR (2016)
Silvio Traversaro, Stanislas Brossette, Adrien Escande, Francesco Nori
Identification of Fully Physical Consistent Inertial Parameters using Optimization on Manifolds. CoRR (2016)
Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci, Francesco Nori
Model based in situ calibration of six axis force torque sensors. Humanoids (2016)
Raffaello Camoriano, Silvio Traversaro, Lorenzo Rosasco, Giorgio Metta, Francesco Nori
Incremental semiparametric inverse dynamics learning. ICRA (2016)
Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete, Daniele Pucci
iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts. Frontiers Robotics AI 2 (2015)
Francesco Nori, Naveen Kuppuswamy, Silvio Traversaro
Simultaneous state and dynamics estimation in articulated structures. IROS (2015)
Silvio Traversaro, Andrea Del Prete, Serena Ivaldi, Francesco Nori
Inertial parameters identification and joint torques estimation with proximal force/torque sensing. ICRA (2015)
Silvio Traversaro, Daniele Pucci, Francesco Nori
In situ calibration of six-axis force-torque sensors using accelerometer measurements. ICRA (2015)
Ali Paikan, Silvio Traversaro, Francesco Nori, Lorenzo Natale
A Generic Testing Framework for Test Driven Development of Robotic Systems. MESAS (2015)
Silvio Traversaro, Daniele Pucci, Francesco Nori
In Situ Calibration of Six-Axes Force Torque Sensors using Accelerometer Measurements. CoRR (2014)
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori
Inertial Parameter Identification Including Friction and Motor Dynamics. CoRR (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)
Silvio Traversaro, Andrea Del Prete, Riccardo Muradore, Lorenzo Natale, Francesco Nori
Inertial parameter identification including friction and motor dynamics. Humanoids (2013)