Stefano Dafarra

Publication Activity (10 Years)

Years Active: 2016-2024
Publications (10 Years): 45

Top Topics

Receding Horizon

Motion Tracking

Inverse Kinematics

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)
Kris Hauser, Eleanor Watson, Joonbum Bae, Josh Bankston, Sven Behnke, Bill Borgia, Manuel G. Catalano, Stefano Dafarra, Jan B. F. van Erp, Thomas Ferris, Jeremy Fishel, Guy Hoffman, Serena Ivaldi, Fumio Kanehiro, Abderrahmane Kheddar, Gaelle Lannuzel, Jacquelyn Ford Morie, Patrick Naughton, Steve NGuyen, Paul Y. Oh, Taskin Padir, Jim Pippine, Jaeheung Park, Daniele Pucci, Jean Chagas Vaz, Peter Whitney, Peggy Wu, David Locke
Analysis and Perspectives on the ANA Avatar XPRIZE Competition. CoRR (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)
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)
Giulio Romualdi, Nahuel A. Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. 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)
Stefano Dafarra, Giulio Romualdi, Daniele Pucci
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion. 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)
Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. 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)
Stefano Dafarra, Giulio Romualdi, Daniele Pucci
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion. IEEE Trans. Robotics 38 (6) (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)
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)
Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. Humanoids (2022)
Giulio Romualdi, Stefano Dafarra, Daniele Pucci
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. IEEE Robotics Autom. Lett. 6 (3) (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. ICRA (2021)
Giulio Romualdi, Stefano Dafarra, Daniele Pucci
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. CoRR (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)
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. CoRR (2020)
Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt
Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. IROS (2020)
Stefano Dafarra
Predictive Whole-Body Control of Humanoid Robot Locomotion. CoRR (2020)
Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. ICRA (2020)
Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. CoRR (2020)
Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Stefano Dafarra, Gabriele Nava, Claudia Latella, Daniele Pucci
Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics. Algorithms 13 (10) (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)
Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. CoRR (2019)
Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. Humanoids (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)
Mohamed Elobaid, Yue Hu, Giulio Romualdi, Stefano Dafarra, Jan Babic, Daniele Pucci
Telexistence and Teleoperation for Walking Humanoid Robots. IntelliSys (2) (2019)
Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. CoRR (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)
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)
Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. Humanoids (2018)
Stefano Dafarra, Francesco Romano, Francesco Nori
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot. 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. Humanoids (2017)
Stefano Dafarra, Francesco Romano, Francesco Nori
A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot. RAAD (2017)
Stefano Dafarra, Francesco Romano, Francesco Nori
Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot. CoRR (2017)
Stefano Dafarra, Francesco Romano, Francesco Nori
Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot. 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)
Stefano Dafarra, Francesco Romano, Francesco Nori
Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot. Humanoids (2016)