Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot. - Stefano Dafarra; Francesco Romano; Francesco Nori (Humanoids, 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)

A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot. - Stefano Dafarra; Francesco Romano; Francesco Nori (RAAD, 2017)

Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot. - Stefano Dafarra; Francesco Romano; Francesco Nori (CoRR, 2017)

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)

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)

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)

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)

Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. - Stefano Dafarra; Sylvain Bertrand; Robert J. Griffin; Giorgio Metta; Daniele Pucci; Jerry E. Pratt (IROS, 2020)

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)

Predictive Whole-Body Control of Humanoid Robot Locomotion. - Stefano Dafarra (CoRR, 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)

Predictive Whole-Body Control of Humanoid Robot Locomotion. - Stefano Dafarra (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)

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)

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)

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)

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)

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)

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)

Analysis and Perspectives on the ANA Avatar XPRIZE Competition. - Kris Hauser; Eleanor 'Nell' 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; et al. (Int. J. Soc. Robotics, 2025)

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)

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)

Learning to Evaluate Autonomous Behaviour in Human-Robot Interaction. - Matteo Tiezzi; Tommaso Apicella; Carlos Cardenas-Perez; Giovanni Fregonese; Stefano Dafarra; Pietro Morerio; Daniele Pucci; Alessio Del Bue (CoRR, 2025)