Inertial parameter identification including friction and motor dynamics. - Silvio Traversaro; Andrea Del Prete; Riccardo Muradore; Lorenzo Natale; Francesco Nori (Humanoids, 2013)

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)

In Situ Calibration of Six-Axes Force Torque Sensors using Accelerometer Measurements. - Silvio Traversaro; Daniele Pucci; Francesco Nori (CoRR, 2014)

Inertial parameters identification and joint torques estimation with proximal force/torque sensing. - Silvio Traversaro; Andrea Del Prete; Serena Ivaldi; Francesco Nori (ICRA, 2015)

In situ calibration of six-axis force-torque sensors using accelerometer measurements. - Silvio Traversaro; Daniele Pucci; Francesco Nori (ICRA, 2015)

Simultaneous state and dynamics estimation in articulated structures. - Francesco Nori; Naveen Kuppuswamy; Silvio Traversaro (IROS, 2015)

A Generic Testing Framework for Test Driven Development of Robotic Systems. - Ali Paikan; Silvio Traversaro; Francesco Nori; Lorenzo Natale (MESAS, 2015)

iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts. - Francesco Nori; Silvio Traversaro; Jorhabib Eljaik; Francesco Romano; Andrea Del Prete; Daniele Pucci (Frontiers Robotics AI, 2015)

Model based in situ calibration of six axis force torque sensors. - Francisco Javier Andrade Chavez; Silvio Traversaro; Daniele Pucci; Francesco Nori (Humanoids, 2016)

Self-calibration of joint offsets for humanoid robots using accelerometer measurements. - Nuno Guedelha; Naveen Kuppuswamy; Silvio Traversaro; Francesco Nori (Humanoids, 2016)

Highly dynamic balancing via force control. - Daniele Pucci; Francesco Romano; Silvio Traversaro; Francesco Nori (Humanoids, 2016)

Stable bipedal foot planting on uneven terrain through optimal ankle impedance. - Francesco Romano; Naveen Kuppuswamy; Matteo Ciocca; Silvio Traversaro; Francesco Nori (Humanoids, 2016)

Incremental semiparametric inverse dynamics learning. - Raffaello Camoriano; Silvio Traversaro; Lorenzo Rosasco; Giorgio Metta; Francesco Nori (ICRA, 2016)

Identification of fully physical consistent inertial parameters using optimization on manifolds. - Silvio Traversaro; Stanislas Brossette; Adrien Escande; Francesco Nori (IROS, 2016)

The Sensitivity of the Static Center of Pressure as a Criterion to assess Balancing Controllers Performance. - Francesco Romano; Daniele Pucci; Silvio Traversaro; Francesco Nori (CoRR, 2016)

Whole-Body Human Inverse Dynamics with Distributed Micro-Accelerometers, Gyros and Force Sensing. - Claudia Latella; Naveen Kuppuswamy; Francesco Romano; Silvio Traversaro; Francesco Nori (Sensors, 2016)

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)

Skin normal force calibration using vacuum bags. - Joan Kangro; Silvio Traversaro; Daniele Pucci; Francesco Nori (ICRA, 2017)

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control. - Mark Rijnen; Eric de Mooij; Silvio Traversaro; Francesco Nori; Nathan van de Wouw; Alessandro Saccon; Henk Nijmeijer (ICRA, 2017)

A Whole-Body Software Abstraction Layer for Control Design of Free-Floating Mechanical Systems. - Francesco Romano; Silvio Traversaro; Daniele Pucci; Jorhabib Eljaik; Andrea Del Prete; Francesco Nori (IRC, 2017)

On Centroidal Dynamics and Integrability of Average Angular Velocity. - Alessandro Saccon; Silvio Traversaro; Francesco Nori; Henk Nijmeijer (IEEE Robotics Autom. Lett., 2017)

Position and Attitude Control of an Underactuated Flying Humanoid Robot. - Gabriele Nava; Luca Fiorio; Silvio Traversaro; Daniele Pucci (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)

Contact Force and Joint Torque Estimation Using Skin. - Francisco Javier Andrade Chavez; Joan Kangro; Silvio Traversaro; Francesco Nori; Daniele Pucci (IEEE Robotics Autom. Lett., 2018)

A Plenum-Based Calibration Device for Tactile Sensor Arrays. - Joan Kangro; Anand Vazhapilli Sureshbabu; Silvio Traversaro; Daniele Pucci; Francesco Nori (IEEE Robotics Autom. Lett., 2018)

Momentum Control of an Underactuated Flying Humanoid Robot. - Daniele Pucci; Silvio Traversaro; Francesco Nori (IEEE Robotics Autom. Lett., 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)

Identification of Motor Parameters on Coupled Joints. - Nuno Guedelha; Silvio Traversaro; Daniele Pucci (IntelliSys (2), 2019)

Momentum-Based Topology Estimation of Articulated Objects. - Yeshasvi Tirupachuri; Silvio Traversaro; Francesco Nori; Daniele Pucci (IntelliSys (2), 2019)

Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms - A physical human-robot interaction case study. - Claudia Latella; Marta Lorenzini; Maria Lazzaroni; Francesco Romano; Silvio Traversaro; M. Ali Akhras; Daniele Pucci; Francesco Nori (Auton. Robots, 2019)

A Generic Synchronous Dataflow Architecture to Rapidly Prototype and Deploy Robot Controllers. - Diego Ferigo; Silvio Traversaro; Francesco Romano; 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)

A Novel Sensorized Skin Insole for Sensing Feet Pressure Distributions. - Ines Sorrentino; Francisco Javier Andrade Chavez; Claudia Latella; Luca Fiorio; Silvio Traversaro; Lorenzo Rapetti; Yeshasvi Tirupachuri; Marco Maggiali; Simeone Dussoni; Giorgio Metta; Daniele Pucci (CoRR, 2019)

Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning. - Diego Ferigo; Silvio Traversaro; Daniele Pucci (CoRR, 2019)

A Build System for Software Development in Robotic Academic Collaborative Environments. - Daniele E. Domenichelli; Silvio Traversaro; Luca Muratore; Alessio Rocchi; Francesco Nori; Lorenzo Natale (Int. J. Semantic Comput., 2019)

Six-Axis Force Torque Sensor Model-Based In Situ Calibration Method and Its Impact in Floating-Based Robot Dynamic Performance. - Francisco Javier Andrade Chavez; Silvio Traversaro; Daniele Pucci (Sensors, 2019)

Simultaneous Floating-Base Estimation of Human Kinematics and Joint Torques. - Claudia Latella; Silvio Traversaro; Diego Ferigo; Yeshasvi Tirupachuri; Lorenzo Rapetti; Francisco Javier Andrade Chavez; Francesco Nori; Daniele Pucci (Sensors, 2019)

A Flexible Software Architecture for Robotic Industrial Applications. - Angelo Rendiniello; Alberto Remus; Ines Sorrentino; Prajval Kumar Murali; Daniele Pucci; Marco Maggiali; Lorenzo Natale; Silvio Traversaro; Enrico Villagrossi; Andrea Polo; Alessandro Ardesi (ETFA, 2020)

Gym-Ignition: Reproducible Robotic Simulations for Reinforcement Learning. - Diego Ferigo; Silvio Traversaro; Giorgio Metta; Daniele Pucci (SII, 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)

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)

A Novel Sensorised Insole for Sensing Feet Pressure Distributions. - 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 (Sensors, 2020)

Derivative-Free Online Learning of Inverse Dynamics Models. - Diego Romeres; Mattia Zorzi; Raffaello Camoriano; Silvio Traversaro; Alessandro Chiuso (IEEE Trans. Control. Syst. Technol., 2020)

In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects. - Prajval Kumar Murali; Ines Sorrentino; Angelo Rendiniello; Claudio Fantacci; Enrico Villagrossi; Andrea Polo; Alessandro Ardesi; Marco Maggiali; Lorenzo Natale; Daniele Pucci; Silvio Traversaro (ICRA, 2021)

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)

Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment. - Yeshasvi Tirupachuri; Prashanth Ramadoss; Lorenzo Rapetti; Claudia Latella; Kourosh Darvish; Silvio Traversaro; Daniele Pucci (IEEE Access, 2021)

RoboStack: Using the Robot Operating System alongside the Conda and Jupyter Data Science Ecosystems. - Tobias Fischer 001; Wolf Vollprecht; Silvio Traversaro; Sean Yen; Carlos Herrero; Michael Milford (CoRR, 2021)

On the Emergence of Whole-Body Strategies From Humanoid Robot Push-Recovery Learning. - Diego Ferigo; Raffaello Camoriano; Paolo Maria Viceconte; Daniele Calandriello; Silvio Traversaro; Lorenzo Rosasco; Daniele Pucci (IEEE Robotics Autom. Lett., 2021)

Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. - Prashanth Ramadoss; Lorenzo Rapetti; Yeshasvi Tirupachuri; Riccardo Grieco; Gianluca Milani; Enrico Valli; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (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)

A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground. - Nuno Guedelha; Venus Pasandi; Giuseppe L'Erario; Silvio Traversaro; Daniele Pucci (IRC, 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)

Efficient Geometric Linearization of Moving-Base Rigid Robot Dynamics. - Martijn Bos; Silvio Traversaro; Daniele Pucci; Alessandro Saccon (CoRR, 2022)

An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet. - Prashanth Ramadoss; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (CoRR, 2022)

Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. - Prashanth Ramadoss; Lorenzo Rapetti; Yeshasvi Tirupachuri; Riccardo Grieco; Gianluca Milani; Enrico Valli; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (CoRR, 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)

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)

A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems. - Tobias Fischer 001; Wolf Vollprecht; Silvio Traversaro; Sean Yen; Carlos Herrero; Michael Milford (IEEE Robotics Autom. Mag., 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)

Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. - Carlotta Sartore; Lorenzo Rapetti; Fabio Bergonti; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (Humanoids, 2023)

Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. - Carlotta Sartore; Lorenzo Rapetti; Fabio Bergonti; Stefano Dafarra; Silvio Traversaro; Daniele Pucci (CoRR, 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)

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)

ROS2WASM: Bringing the Robot Operating System to the Web. - Tobias Fischer 001; Isabel Paredes; Michael Batchelor; Thorsten Beier; Jesse Haviland; Silvio Traversaro; Wolf Vollprecht; Markus Schmitz; Michael Milford (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)

A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical Background and Implementation Details. - Nuno Guedelha; Venus Pasandi; Giuseppe L'Erario; Silvio Traversaro; Daniele Pucci (Int. J. Semantic Comput., 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)

Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking. - Akhil Sathuluri; Carlotta Sartore; Stefano Dafarra; Silvio Traversaro; Markus Zimmermann; Daniele Pucci (IEEE Robotics Autom. Lett., 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)

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)