Automatic gain tuning of a momentum based balancing controller for humanoid robots. - Daniele Pucci; Gabriele Nava; Francesco Nori (Humanoids, 2016)

Stability analysis and design of momentum-based controllers for humanoid robots. - Gabriele Nava; Francesco Romano; Francesco Nori; Daniele Pucci (IROS, 2016)

Safe trajectory optimization for whole-body motion of humanoids. - Valerio Modugno; Gabriele Nava; Daniele Pucci; Francesco Nori; Giuseppe Oriolo; Serena Ivaldi (Humanoids, 2017)

Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw. - Gabriele Nava; Daniele Pucci; Nuno Guedelha; Silvio Traversaro; Francesco Romano; Stefano Dafarra; Francesco Nori (Humanoids, 2017)

Momentum control of humanoid robots with series elastic actuators. - Gabriele Nava; Daniele Pucci; Francesco Nori (IROS, 2017)

An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot. - Marie Charbonneau; Gabriele Nava; Francesco Nori; Daniele Pucci (CoRR, 2017)

Position and Attitude Control of an Underactuated Flying Humanoid Robot. - Gabriele Nava; Luca Fiorio; Silvio Traversaro; Daniele Pucci (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 Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. - Stefano Dafarra; Gabriele Nava; Marie Charbonneau; Nuno Guedelha; Francisco Andrade 002; Silvio Traversaro; Luca Fiorio; Francesco Romano; Francesco Nori; Giorgio Metta; Daniele Pucci (IROS, 2018)

Exploiting Friction in Torque Controlled Humanoid Robots. - Gabriele Nava; Diego Ferigo; Daniele Pucci (IROS, 2018)

Towards Partner-Aware Humanoid Robot Control Under Physical Interactions. - Yeshasvi Tirupachuri; Gabriele Nava; Diego Ferigo; Luca Tagliapietra; Claudia Latella; Francesco Nori; Daniele Pucci (CoRR, 2018)

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction. - Francesco Romano; Gabriele Nava; Morteza Azad; Jernej Camernik; Stefano Dafarra; Oriane Dermy; Claudia Latella; Maria Lazzaroni; Ryan Lober; Marta Lorenzini; Daniele Pucci; Olivier Sigaud; et al. (IEEE Robotics Autom. Lett., 2018)

Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors. - Francisco Javier Andrade Chavez; Gabriele Nava; Silvio Traversaro; Francesco Nori; Daniele Pucci (ICRA, 2019)

Towards Partner-Aware Humanoid Robot Control Under Physical Interactions. - Yeshasvi Tirupachuri; Gabriele Nava; Claudia Latella; Diego Ferigo; Lorenzo Rapetti; Luca Tagliapietra; Francesco Nori; Daniele Pucci (IntelliSys (2), 2019)

Trajectory Advancement during Human-Robot Collaboration. - Yeshasvi Tirupachuri; Gabriele Nava; Lorenzo Rapetti; Claudia Latella; Daniele Pucci (RO-MAN, 2019)

Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback. - Ahmad Gazar; Gabriele Nava; Francisco Javier Andrade Chavez; Daniele Pucci (CoRR, 2019)

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics. - Giuseppe L'Erario; Luca Fiorio; Gabriele Nava; Fabio Bergonti; Hosameldin Awadalla Omer Mohamed; Silvio Traversaro; Daniele Pucci (CoRR, 2019)

Trajectory Advancement for Robot Stand-up with Human Assistance. - Yeshasvi Tirupachuri; Gabriele Nava; Lorenzo Rapetti; Claudia Latella; Daniele Pucci (CoRR, 2019)

Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics. - Lorenzo Rapetti; Yeshasvi Tirupachuri; Kourosh Darvish; Stefano Dafarra; Gabriele Nava; Claudia Latella; Daniele Pucci (Algorithms, 2020)

Recent Advances in Human-Robot Collaboration Towards Joint Action. - Yeshasvi Tirupachuri; Gabriele Nava; Lorenzo Rapetti; Claudia Latella; Kourosh Darvish; Daniele Pucci (CoRR, 2020)

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics. - Giuseppe L'Erario; Luca Fiorio; Gabriele Nava; Fabio Bergonti; Hosameldin Awadalla Omer Mohamed; Emilio Benenati; Silvio Traversaro; Daniele Pucci (IEEE Robotics Autom. Lett., 2020)

Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators. - Gabriele Nava; Quentin Sablé; Marco Tognon; Daniele Pucci; Antonio Franchi (IEEE Robotics Autom. Lett., 2020)

Instantaneous Momentum-Based Control of Floating Base Systems. - Gabriele Nava (2020)

Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback. - Ahmad Gazar; Gabriele Nava; Francisco Javier Andrade Chavez; Daniele Pucci (IEEE Trans. Robotics, 2021)

Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. - Giuseppe L'Erario; Gabriele Nava; Giulio Romualdi; Fabio Bergonti; Valentino Razza; Stefano Dafarra; Daniele Pucci (Humanoids, 2022)

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots. - Tong Hui; Antonello Paolino; Gabriele Nava; Giuseppe L'Erario; Fabio Di Natale; Fabio Bergonti; Francesco Braghin; Daniele Pucci (ICRA, 2022)

Nonlinear Model Identification and Observer Design for Thrust Estimation of Small-scale Turbojet Engines. - Affaf Junaid Ahamad Momin; Gabriele Nava; Giuseppe L'Erario; Hosameldin Awadalla Omer Mohamed; Fabio Bergonti; Punith Reddy Vanteddu; Francesco Braghin; Daniele Pucci (ICRA, 2022)

Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots. - Hosameldin Awadalla Omer Mohamed; Gabriele Nava; Giuseppe L'Erario; Silvio Traversaro; Fabio Bergonti; Luca Fiorio; Punith Reddy Vanteddu; Francesco Braghin; Daniele Pucci (IEEE Robotics Autom. Lett., 2022)

Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots. - Fabio Bergonti; Gabriele Nava; Luca Fiorio; Giuseppe L'Erario; Daniele Pucci (IEEE Trans. Robotics, 2022)

Nonlinear In-situ Calibration of Strain-Gauge Force/Torque Sensors for Humanoid Robots. - Hosameldin Awadalla Omer Mohamed; Gabriele Nava; Punith Reddy Vanteddu; Francesco Braghin; Daniele Pucci (Humanoids, 2023)

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization. - Mohamed Elobaid; Giulio Romualdi; Gabriele Nava; Lorenzo Rapetti; Hosameldin Awadalla Omer Mohamed; Daniele Pucci (ICRA, 2023)

Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot. - Gabriele Nava; Daniele Pucci (ICRA, 2023)

Co-Design Optimisation of Morphing Topology and Control of Winged Drones. - Fabio Bergonti; Gabriele Nava; Valentin Wüest; Antonello Paolino; Giuseppe L'Erario; Daniele Pucci; Dario Floreano (ICRA, 2024)

Learning to Walk and Fly with Adversarial Motion Priors. - Giuseppe L'Erario; Drew Hanover; Angel Romero; Yunlong Song; Gabriele Nava; Paolo Maria Viceconte; Daniele Pucci; Davide Scaramuzza 001 (IROS, 2024)

From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry. - Punith Reddy Vanteddu; Gabriele Nava; Fabio Bergonti; Giuseppe L'Erario; Antonello Paolino; Daniele Pucci (IROS, 2024)

Online Nonlinear MPC for Multimodal Locomotion. - Saverio Taliani; Gabriele Nava; Giuseppe L'Erario; Mohamed Elobaid; Giulio Romualdi; Daniele Pucci (ICRA, 2025)

Learning Aerodynamics for the Control of Flying Humanoid Robots. - Antonello Paolino; Gabriele Nava; Fabio Di Natale; Fabio Bergonti; Punith Reddy Vanteddu; Donato Grassi; Luca Riccobene; Alex Zanotti; Renato Tognaccini; Gianluca Iaccarino; Daniele Pucci (CoRR, 2025)

iRonCub 3: The Jet-Powered Flying Humanoid Robot. - Davide Gorbani; Hosameldin Awadalla Omer Mohamed; Giuseppe L'Erario; Gabriele Nava; Punith Reddy Vanteddu; Shabarish Purushothaman Pillai; Antonello Paolino; Fabio Bergonti; Saverio Taliani; Alessandro Croci; Nicholas James Tremaroli; Silvio Traversaro; et al. (CoRR, 2025)