A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. - Giulio Romualdi; Stefano Dafarra; Yue Hu 001; Daniele Pucci (Humanoids, 2018)

Whole-Body Geometric Retargeting for Humanoid Robots. - Kourosh Darvish; Yeshasvi Tirupachuri; Giulio Romualdi; Lorenzo Rapetti; Diego Ferigo; Francisco Javier Andrade Chavez; Daniele Pucci (Humanoids, 2019)

Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. - Milad Shafiee; Giulio Romualdi; Stefano Dafarra; Francisco Javier Andrade Chavez; Daniele Pucci (Humanoids, 2019)

Telexistence and Teleoperation for Walking Humanoid Robots. - Mohamed Elobaid; Yue Hu 001; Giulio Romualdi; Stefano Dafarra; Jan Babic; Daniele Pucci (IntelliSys (2), 2019)

Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. - Stefano Dafarra; Giulio Romualdi; Giorgio Metta; Daniele Pucci (ICRA, 2020)

A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots. - Giulio Romualdi; Stefano Dafarra; Yue Hu 001; Prashanth Ramadoss; Francisco Javier Andrade Chavez; Silvio Traversaro; Daniele Pucci (Int. J. Humanoid Robotics, 2020)

DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. - Prashanth Ramadoss; Giulio Romualdi; Stefano Dafarra; Francisco Javier Andrade Chavez; Silvio Traversaro; Daniele Pucci (ICRA, 2021)

Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. - Giulio Romualdi; Stefano Dafarra; Daniele Pucci (IEEE Robotics Autom. Lett., 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)

Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. - Giulio Romualdi; Nahuel A. Villa; Stefano Dafarra; Daniele Pucci; Olivier Stasse (Humanoids, 2022)

Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. - Giulio Romualdi; Stefano Dafarra; Giuseppe L'Erario; Ines Sorrentino; Silvio Traversaro; Daniele Pucci (ICRA, 2022)

Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet. - Prashanth Ramadoss; Giulio Romualdi; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (IROS, 2022)

iCub3 Avatar System. - Stefano Dafarra; Kourosh Darvish; Riccardo Grieco; Gianluca Milani; Ugo Pattacini; Lorenzo Rapetti; Giulio Romualdi; Mattia Salvi; Alessandro Scalzo; Ines Sorrentino; Davide Tomè; Silvio Traversaro; et al. (CoRR, 2022)

ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots. - Paolo Maria Viceconte; Raffaello Camoriano; Giulio Romualdi; Diego Ferigo; Stefano Dafarra; Silvio Traversaro; Giuseppe Oriolo; Lorenzo Rosasco; Daniele Pucci (IEEE Robotics Autom. Lett., 2022)

Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion. - Stefano Dafarra; Giulio Romualdi; Daniele Pucci (IEEE Trans. Robotics, 2022)

osqp-eigen v0.7.0. - Giulio Romualdi; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (Zenodo, 2022)

Dataset associated to the "ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots" paper (manuscript DOI: 10.1109/LRA.2022.3141658). - Paolo Maria Viceconte; Raffaello Camoriano; Giulio Romualdi; Diego Ferigo; Stefano Dafarra; Silvio Traversaro; Giuseppe Oriolo; Lorenzo Rosasco; Daniele Pucci (Zenodo, 2022)

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)

Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment. - Giulio Romualdi; Paolo Maria Viceconte; Lorenzo Moretti; Ines Sorrentino; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (Humanoids, 2024)

Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques. - Carlotta Sartore; Marco Rando; Giulio Romualdi; Cesare Molinari; Lorenzo Rosasco; Daniele Pucci (Humanoids, 2024)

Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives. - Ines Sorrentino; Giulio Romualdi; Fabio Bergonti; Giuseppe L'Erario; Silvio Traversaro; Daniele Pucci (Humanoids, 2024)

UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots. - Ines Sorrentino; Giulio Romualdi; Daniele Pucci (ICRA, 2024)

Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. - Mohamed Elobaid; Giulio Turrisi; Lorenzo Rapetti; Giulio Romualdi; Stefano Dafarra; Tomohiro Kawakami; Tomohiro Chaki; Takahide Yoshiike; Claudio Semini; Daniele Pucci (CoRR, 2024)

Remote telepresence over large distances via robot avatars: case studies. - Mohamed Elobaid; Stefano Dafarra; Ehsan Ranjbari; Giulio Romualdi; Tomohiro Chaki; Tomohiro Kawakami; Takahide Yoshiike; Daniele Pucci (CoRR, 2024)

iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. - 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; et al. (Sci. Robotics, 2024)

XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration. - Carlos Cardenas-Perez; Giulio Romualdi; Mohamed Elobaid; Stefano Dafarra; Giuseppe L'Erario; Silvio Traversaro; Pietro Morerio; Alessio Del Bue; Daniele Pucci (IEEE Robotics Autom. Lett., 2024)

Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots. - Mohamed Elobaid; Giulio Turrisi; Lorenzo Rapetti; Giulio Romualdi; Stefano Dafarra; Tomohiro Kawakami; Tomohiro Chaki; Takahide Yoshiike; Claudio Semini; Daniele Pucci (IEEE Robotics Autom. Lett., 2025)

Physics-Informed Neural Networks With Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots. - Ines Sorrentino; Giulio Romualdi; Lorenzo Moretti; Silvio Traversaro; Daniele Pucci (IEEE Robotics Autom. Lett., 2025)