A manipulation framework for compliant humanoid COMAN: Application to a valve turning task. - Arash Ajoudani; Jinoh Lee; Alessio Rocchi; Mirko Ferrati; Enrico Mingo Hoffman; Alessandro Settimi; Darwin G. Caldwell; Antonio Bicchi; Nikos G. Tsagarakis (Humanoids, 2014)

Upper-body impedance control with variable stiffness for a door opening task. - Jinoh Lee; Arash Ajoudani; Enrico Mingo Hoffman; Alessio Rocchi; Alessandro Settimi; Mirko Ferrati; Antonio Bicchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2014)

Yarp Based Plugins for Gazebo Simulator. - Enrico Mingo Hoffman; Silvio Traversaro; Alessio Rocchi; Mirko Ferrati; Alessandro Settimi; Francesco Romano; Lorenzo Natale; Antonio Bicchi; Francesco Nori; Nikos G. Tsagarakis (MESAS, 2014)

A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios. - Alessandro Settimi; Corrado Pavan; Valerio Varricchio; Mirko Ferrati; Enrico Mingo Hoffman; Alessio Rocchi; Kamilo Melo; Nikos G. Tsagarakis; Antonio Bicchi (MESAS, 2014)

Efficient self-collision avoidance based on focus of interest for humanoid robots. - Cheng Fang; Alessio Rocchi; Enrico Mingo Hoffman; Nikos G. Tsagarakis; Darwin G. Caldwell (Humanoids, 2015)

OpenSoT: A whole-body control library for the compliant humanoid robot COMAN. - Alessio Rocchi; Enrico Mingo Hoffman; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2015)

Robot Dynamics Constraint for Inverse Kinematics. - Enrico Mingo Hoffman; Alessio Rocchi; Nikos G. Tsagarakis; Darwin G. Caldwell (ARK, 2016)

An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. - Peter Kaiser 001; Dimitrios Kanoulas; Markus Grotz; Luca Muratore; Alessio Rocchi; Enrico Mingo Hoffman; Nikos G. Tsagarakis; Tamim Asfour (Humanoids, 2016)

Robot control for dummies: Insights and examples using OpenSoT. - Enrico Mingo Hoffman; Alessio Rocchi; Arturo Laurenzi; Nikos G. Tsagarakis (Humanoids, 2017)

XBotCore: A Real-Time Cross-Robot Software Platform. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Alessio Rocchi; Darwin G. Caldwell; Nikos G. Tsagarakis (IRC, 2017)

Corrigendum: The Walk-Man Robot Software Architecture. - Mirko Ferrati; Alessandro Settimi; Luca Muratore; Alberto Cardellino; Alessio Rocchi; Enrico Mingo Hoffman; Corrado Pavan; Dimitrios Kanoulas; Nikos G. Tsagarakis; Lorenzo Natale; Lucia Pallottino (Frontiers Robotics AI, 2017)

WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments. - 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; et al. (J. Field Robotics, 2017)

Balancing Control Through Post-Optimization of Contact Forces. - Arturo Laurenzi; Enrico Mingo Hoffman; Matteo Parigi Polverini; Nikos G. Tsagarakis (Humanoids, 2018)

Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid. - Luigo Penco; Brice Clement; Valerio Modugno; Enrico Mingo Hoffman; Gabriele Nava; Daniele Pucci; Nikos G. Tsagarakis; Jean-Baptiste Mourert; Serena Ivaldi (Humanoids, 2018)

A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. - Juan Alejandro Castano; Enrico Mingo Hoffman; Arturo Laurenzi; Luca Muratore; Malgorzata Karnedula; Nikos G. Tsagarakis (ICRA, 2018)

Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. - Enrico Mingo Hoffman; Arturo Laurenzi; Luca Muratore; Nikos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2018)

Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Lorenzo Baccelliere; Navvab Kashiri; Darwin G. Caldwell; Nikos G. Tsagarakis (ICRA, 2018)

Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. - Giuseppe Francesco Rigano; Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IRC, 2018)

Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. - Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2018)

A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2018)

An open-source architecture for simulation, execution and analysis of real-time robotics systems. - Dennis Leroy Wigand; Pouya Mohammadi 001; Enrico Mingo Hoffman; Nikos G. Tsagarakis; Jochen J. Steil; Sebastian Wrede 001 (SIMPAR, 2018)

A mixed real-time robot hardware abstraction layer (R-HAL). - Giuseppe Francesco Rigano; Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (Encycl. Semantic Comput. Robotic Intell., 2018)

CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. - Arturo Laurenzi; Enrico Mingo Hoffman; Luca Muratore; Nikos G. Tsagarakis (ICRA, 2019)

Reactive Walking Based on Upper-Body Manipulability: An application to Intention Detection and Reaction. - Pouya Mohammadi 001; Enrico Mingo Hoffman; Luca Muratore; Nikos G. Tsagarakis; Jochen J. Steil (ICRA, 2019)

Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot. - Arturo Laurenzi; Dimitrios Kanoulas; Enrico Mingo Hoffman; Luca Muratore; Nikolaos G. Tsagarakis (IRC, 2019)

Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2019)

CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. - 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; et al. (IEEE Robotics Autom. Lett., 2019)

Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. - Matteo Parigi Polverini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2019)

Developing Humanoid Robots for Applications in Real-World Scenarios [From the Guest Editors]. - Enrico Mingo Hoffman; Stéphane Caron; Francesco Ferro; Luis Sentis; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2019)

Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. - 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; et al. (IEEE Robotics Autom. Mag., 2019)

Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality. - Pouya Mohammadi 001; Enrico Mingo Hoffman; Niels Dehio; Milad S. Malekzadeh; Martin A. Giese; Nikos G. Tsagarakis; Jochen J. Steil (IEEE Robotics Autom. Mag., 2019)

A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. - Francesco Ruscelli; Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IROS, 2020)

A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. - Gennaro Raiola; Enrico Mingo Hoffman; Michele Focchi; Nikos G. Tsagarakis; Claudio Semini (Frontiers Robotics AI, 2020)

A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. - Enrico Mingo Hoffman; Matteo Parigi Polverini; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. - Arturo Laurenzi; Enrico Mingo Hoffman; Matteo Parigi Polverini; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

Learning Robust Task Priorities and Gains for Control of Redundant Robots. - Luigi Penco; Enrico Mingo Hoffman; Valerio Modugno; Waldez Gomes; Jean-Baptiste Mouret; Serena Ivaldi (IEEE Robotics Autom. Lett., 2020)

Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. - Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Francesco Ruscelli; Nikos G. Tsagarakis (IEEE Robotics Autom. Lett., 2020)

The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. - Luca Muratore; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2020)

Mechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms. - Eamon Barrett; Enrico Mingo Hoffman; Lorenzo Baccelliere; Nikos G. Tsagarakis (AIM, 2021)

Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. - Italo Belli; Matteo Parigi Polverini; Arturo Laurenzi; Enrico Mingo Hoffman; Paolo Rocco; Nikolaos G. Tsagarakis (HUMANOIDS, 2021)

Exploiting visual servoing and centroidal momentum for whole-body motion control of humanoid robots in absence of contacts and gravity. - Enrico Mingo Hoffman; Antonio Paolillo (ICRA, 2021)

Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. - Enrico Mingo Hoffman; Matteo Parigi Polverini; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2021)

Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. - Matteo Parigi Polverini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (ICRA, 2021)

NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. - Luca Rossini; Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (Frontiers Robotics AI, 2021)

Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. - Francesco Ruscelli; Arturo Laurenzi; Enrico Mingo Hoffman; Nikos G. Tsagarakis (Frontiers Robotics AI, 2021)

The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification. - Enrico Mingo Hoffman; Nikos G. Tsagarakis (Int. J. Humanoid Robotics, 2021)

WoLF: the Whole-body Locomotion Framework for Quadruped Robots. - Gennaro Raiola; Michele Focchi; Enrico Mingo Hoffman (CoRR, 2022)

Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. - Luca Rossini; Paolo Ferrari; Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (CoRR, 2022)

Prototyping fast and agile motions for legged robots with Horizon. - Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (CoRR, 2022)

Editorial: Advancements in trajectory optimization and model predictive control for legged systems. - Enrico Mingo Hoffman; Chengxu Zhou; Matteo Parigi Polverini (Frontiers Robotics AI, 2022)

Horizon: A Trajectory Optimization Framework for Robotic Systems. - Francesco Ruscelli; Arturo Laurenzi; Nikos G. Tsagarakis; Enrico Mingo Hoffman (Frontiers Robotics AI, 2022)

Benchmarking Dynamic Balancing Controllers for Humanoid Robots. - Juan Alejandro Castano; Joseph Humphreys; Enrico Mingo Hoffman; Noelia Fernández Talavera; Maria Cristina Rodriguez-Sánchez; Chengxu Zhou (Robotics, 2022)

Joint Position Bounds in Resolved-Acceleration Control: A Comparison. - Andrea Testa; Luigi Raiano; Marco Laghi; Arash Ajoudani; Enrico Mingo Hoffman (HFR, 2023)

A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance. - Luca Rossini; Enrico Mingo Hoffman; SeungHyeon Bang; Luis Sentis; Nikos G. Tsagarakis (Humanoids, 2023)

Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. - 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; et al. (ICRA, 2023)

CARPE-ID: Continuously Adaptable Re-identification for Personalized Robot Assistance. - Federico Rollo; Andrea Zunino; Nikolaos G. Tsagarakis; Enrico Mingo Hoffman; Arash Ajoudani (CoRR, 2023)

Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. - Paolo Ferrari; Luca Rossini; Francesco Ruscelli; Arturo Laurenzi; Giuseppe Oriolo; Nikos G. Tsagarakis; Enrico Mingo Hoffman (Robotics Auton. Syst., 2023)

Semantic-Based Loco-Manipulation for Human-Robot Collaboration in Industrial Environments. - Federico Rollo; Gennaro Raiola; Nikolaos G. Tsagarakis; Marco Roveri; Enrico Mingo Hoffman; Arash Ajoudani (ERF (2), 2024)

Continuous Adaptation in Person Re-identification for Robotic Assistance. - Federico Rollo; Andrea Zunino; Nikolaos G. Tsagarakis; Enrico Mingo Hoffman; Arash Ajoudani (ICRA, 2024)

From Vocal Instructions to Household Tasks: The Inria Tiago++ in the euROBIN Service Robots Coopetition. - Fabio Amadio; Clemente Donoso; Dionis Totsila; Raphael Lorenzo; Quentin Rouxel; Olivier Rochel; Enrico Mingo Hoffman; Jean-Baptiste Mouret; Serena Ivaldi (CoRR, 2024)

Modeling and numerical analysis of Kangaroo lower body based on constrained dynamics of hybrid serial-parallel floating-base systems. - Enrico Mingo Hoffman; Andrea Curti; Narcís Miguel; Sai Kishor Kothakota; Alberto Molina; Adria Roig; Luca Marchionni (Robotics Auton. Syst., 2024)

Benchmarking Standing Stability for Bipedal Robots. - Juan Alejandro Castano; Eugenio Manuel Espuela; Jaime Ramos Rojas; Enrico Mingo Hoffman; Chengxu Zhou (IEEE Access, 2025)

A stable method for task priority adaptation in quadratic programming via reinforcement learning. - Andrea Testa; Marco Laghi; Edoardo Del Bianco; Gennaro Raiola; Enrico Mingo Hoffman; Arash Ajoudani (Robotics Comput. Integr. Manuf., 2025)

Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization. - Enrico Mingo Hoffman; Daniel Costanzi; Gabriele Fadini; Narcís Miguel; Andrea Del Prete; Luca Marchionni (IEEE Robotics Autom. Lett., 2025)

The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints. - Enrico Mingo Hoffman; Arturo Laurenzi; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2025)

Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations. - Francesco Ruscelli; Luca Rossini; Enrico Mingo Hoffman; Lorenzo Baccelliere; Arturo Laurenzi; Luca Muratore; Davide Antonucci; Stefano Cordasco; Nikos G. Tsagarakis (IEEE Robotics Autom. Mag., 2025)

Safe Bimanual Teleoperation with Language-Guided Collision Avoidance. - Dionis Totsila; Clemente Donoso; Enrico Mingo Hoffman; Jean-Baptiste Mouret; Serena Ivaldi (CoRR, 2025)