Papers

The iCub humanoid robot: an open platform for research in embodied cognition

by G Metta, G Sandini, D Vernon, L Natale, F Nori

Proceedings of the 8th workshop on performance metrics for intelligent …

Published in 2008 | Citations: 630

The iCub humanoid robot: An open-systems platform for research in cognitive development

by G Metta, L Natale, F Nori, G Sandini, D Vernon, L Fadiga, C Von Hofsten, ...

Neural networks 23 (8-9), 1125-1134

Published in 2010 | Citations: 478

Integration of action and language knowledge: A roadmap for developmental robotics

by A Cangelosi, G Metta, G Sagerer, S Nolfi, C Nehaniv, K Fischer, J Tani, ...

IEEE Transactions on Autonomous Mental Development 2 (3), 167-195

Published in 2010 | Citations: 201

An experimental evaluation of a novel minimum-jerk cartesian controller for humanoid robots

by U Pattacini, F Nori, L Natale, G Metta, G Sandini

2010 IEEE/RSJ international conference on intelligent robots and systems …

Published in 2010 | Citations: 193

An open-source simulator for cognitive robotics research: the prototype of the iCub humanoid robot simulator

by V Tikhanoff, A Cangelosi, P Fitzpatrick, G Metta, L Natale, F Nori

Proceedings of the 8th workshop on performance metrics for intelligent …

Published in 2008 | Citations: 191

Robots with a sense of touch

by C Bartolozzi, L Natale, F Nori, G Metta

Nature materials 15 (9), 921

Published in 2016 | Citations: 133

Evidence for composite cost functions in arm movement planning: an inverse optimal control approach

by B Berret, E Chiovetto, F Nori, T Pozzo

PLoS Comput Biol 7 (10), e1002183

Published in 2011 | Citations: 131

Muscle synergies in neuroscience and robotics: from input-space to task-space perspectives

by C Alessandro, I Delis, F Nori, S Panzeri, B Berret

Frontiers in computational neuroscience 7, 43

Published in 2013 | Citations: 117

The design of the iCub humanoid robot

by A Parmiggiani, M Maggiali, L Natale, F Nori, A Schmitz, N Tsagarakis, ...

International journal of humanoid robotics 9 (04), 1250027

Published in 2012 | Citations: 94

James: A humanoid robot acting over an unstructured world

by L Jamone, G Metta, F Nori, G Sandini

2006 6th IEEE-RAS International Conference on Humanoid Robots, 143-150

Published in 2006 | Citations: 81

" What, not how"--Solving an under-actuated insertion task from scratch

by G Vezzani, M Neunert, M Wulfmeier, R Jeong, T Lampe, N Siegel, ...

arXiv preprint arXiv:2010.15492

Published in 2020 | Citations: 0

Learning Dexterous Manipulation from Suboptimal Experts

by R Jeong, JT Springenberg, J Kay, D Zheng, Y Zhou, A Galashov, N Heess, ...

arXiv preprint arXiv:2010.08587

Published in 2020 | Citations: 0

Self-supervised sim-to-real adaptation for visual robotic manipulation

by R Jeong, Y Aytar, D Khosid, Y Zhou, J Kay, T Lampe, K Bousmalis, F Nori

2020 IEEE International Conference on Robotics and Automation (ICRA), 2718-2724

Published in 2020 | Citations: 7

Modelling Generalized Forces with Reinforcement Learning for Sim-to-Real Transfer

by R Jeong, J Kay, F Romano, T Lampe, T Rothorl, A Abdolmaleki, T Erez, ...

arXiv preprint arXiv:1910.09471

Published in 2019 | Citations: 6

Momentum-Based Topology Estimation of Articulated Objects

by Y Tirupachuri, S Traversaro, F Nori, D Pucci

Proceedings of SAI Intelligent Systems Conference, 1093-1105

Published in 2019 | Citations: 0

Towards partner-aware humanoid robot control under physical interactions

by Y Tirupachuri, G Nava, C Latella, D Ferigo, L Rapetti, L Tagliapietra, ...

Proceedings of SAI Intelligent Systems Conference, 1073-1092

Published in 2019 | Citations: 7

Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms

by C Latella, M Lorenzini, M Lazzaroni, F Romano, S Traversaro, MA Akhras, ...

Autonomous Robots 43 (6), 1591-1603

Published in 2019 | Citations: 9

A Build System for Software Development in Robotic Academic Collaborative Environments

by DE Domenichelli, S Traversaro, L Muratore, A Rocchi, F Nori, L Natale

International Journal of Semantic Computing 13 (02), 185-205

Published in 2019 | Citations: 0

Model based in situ calibration with temperature compensation of 6 axis force torque sensors

by FJA Chavez, G Nava, S Traversaro, F Nori, D Pucci

2019 International Conference on Robotics and Automation (ICRA), 5397-5403

Published in 2019 | Citations: 3

Simultaneously learning vision and feature-based control policies for real-world ball-in-a-cup

by D Schwab, T Springenberg, MF Martins, T Lampe, M Neunert, ...

arXiv preprint arXiv:1902.04706

Published in 2019 | Citations: 13

An Affordance-based Action Planner for On-line and Concurrent Human-Robot Collaborative Assembly

by F Stramandinoli, A Roncone, O Mangin, F Nori, B Scassellati

2nd ICRA International Workshop on Computational Models of Affordance in …

Published in 2019 | Citations: 1

Simultaneous floating-base estimation of human kinematics and joint torques

by C Latella, S Traversaro, D Ferigo, Y Tirupachuri, L Rapetti, ...

Sensors 19 (12), 2794

Published in 2019 | Citations: 10

iCub: the open humanoid robot designed for learning and developing complex cognitive tasks

by G Metta, G Sandini, D Vernon, L Natale, F Nori

IEEERSJ International Conference on Intelligent Robots and Systems

Published in 2019 | Citations: 1

Design and Control of a passive noise rejecting Variable Stiffness Actuator

by L Fiorio, F Romano, A Parmiggiani, B Berret, G Metta, F Nori

Biomechanics of Anthropomorphic Systems, 235-262

Published in 2019 | Citations: 2

Learning robust task priorities of QP-based whole-body torque-controllers

by M Charbonneau, V Modugno, F Nori, G Oriolo, D Pucci, S Ivaldi

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1-9

Published in 2018 | Citations: 7

Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration: The AnDy project

by P Maurice, S Ivaldi, L Fritzsche, J Babič, F Stulp, M Damsgaard, ...

Published in 2018 | Citations: 0

A control architecture with online predictive planning for position and torque controlled walking of humanoid robots

by S Dafarra, G Nava, M Charbonneau, N Guedelha, F Andradel, ...

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …

Published in 2018 | Citations: 9

Advancing Human-Robot Collaboration through Online Human Inverse Dynamics Estimation

by C Latella, L Tagliapietra, D Ferigo, Y Tirupachuri, F Nori, D Pucci

2018 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), 21-22

Published in 2018 | Citations: 0

A Plenum-Based Calibration Device for Tactile Sensor Arrays

by J Kangro, AV Sureshbabu, S Traversaro, D Pucci, F Nori

IEEE Robotics and Automation Letters 3 (4), 3937-3943

Published in 2018 | Citations: 2

Contact force and joint torque estimation using skin

by FJA Chavez, J Kangro, S Traversaro, F Nori, D Pucci

IEEE Robotics and Automation Letters 3 (4), 3900-3907

Published in 2018 | Citations: 5

Safe trajectory optimization for whole-body motion of humanoids

by V Modugno, G Nava, D Pucci, F Nori, G Oriolo, S Ivaldi

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …

Published in 2017 | Citations: 2

Modeling and control of humanoid robots in dynamic environments: Icub balancing on a seesaw

by G Nava, D Pucci, N Guedelha, S Traversaro, F Romano, S Dafarra, F Nori

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids …

Published in 2017 | Citations: 4

The codyco project achievements and beyond: Toward human aware whole-body controllers for physical human robot interaction

by F Romano, G Nava, M Azad, J Čamernik, S Dafarra, O Dermy, C Latella, ...

IEEE Robotics and Automation Letters 3 (1), 516-523

Published in 2017 | Citations: 21

Optimizing task feasibility using model-free policy search and model-based whole-body control

by R Lober, J Eljaik, G Nava, S Dafarra, F Romano, D Pucci, S Traversaro, ...

Published in 2017 | Citations: 2

Momentum control of humanoid robots with series elastic actuators

by G Nava, D Pucci, F Nori

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems …

Published in 2017 | Citations: 2

Momentum control of an underactuated flying humanoid robot

by D Pucci, S Traversaro, F Nori

IEEE Robotics and Automation Letters 3 (1), 195-202

Published in 2017 | Citations: 19

An Optimization Based Control Framework for Balancing and Walking: Implementation on the iCub Robot

by M Charbonneau, G Nava, F Nori, D Pucci

arXiv preprint arXiv:1707.08359

Published in 2017 | Citations: 0

Inverse, forward and other dynamic computations computationally optimized with sparse matrix factorizations

by F Nori

2017 IEEE International Conference on Real-time Computing and Robotics (RCAR …

Published in 2017 | Citations: 0

Anticipatory models of human movements and dynamics: the roadmap of the andy project

by S Ivaldi, L Fritzsche, J Babič, F Stulp, M Damsgaard, B Graimann, ...

Published in 2017 | Citations: 16

Prioritized optimal control

by AD Prete, F Romano, L Natale, G Metta, G Sandini, F Nori

Published in 2017 | Citations: 1

A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot

by S Dafarra, F Romano, F Nori

International Conference on Robotics in Alpe-Adria Danube Region, 297-305

Published in 2017 | Citations: 2

A Predictive Momentum-Based Whole-Body Torque Controller: Theory and Simulations for the iCub Stepping

by S Dafarra, F Romano, G Nava, F Nori

arXiv preprint arXiv:1705.10635

Published in 2017 | Citations: 0

Skin normal force calibration using vacuum bags

by J Kangro, S Traversaro, D Pucci, F Nori

2017 IEEE International Conference on Robotics and Automation (ICRA), 401-406

Published in 2017 | Citations: 4

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control

by M Rijnen, E de Mooij, S Traversaro, F Nori, N van de Wouw, A Saccon, ...

2017 IEEE International Conference on Robotics and Automation (ICRA), 4102-4107

Published in 2017 | Citations: 14

Heteroscedastic regression and active learning for modeling affordances in humanoids

by F Stramandinoli, V Tikhanoff, U Pattacini, F Nori

IEEE Transactions on Cognitive and Developmental Systems 10 (2), 455-468

Published in 2017 | Citations: 6

A whole-body software abstraction layer for control design of free-floating mechanical systems

by F Romano, S Traversaro, D Pucci, J Eljaik, A Del Prete, F Nori

2017 First IEEE International Conference on Robotic Computing (IRC), 148-155

Published in 2017 | Citations: 19

Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project

by V Padois, S Ivaldi, J Babič, M Mistry, J Peters, F Nori

Robotics and Autonomous Systems 90, 97-117

Published in 2017 | Citations: 17

Regularized hierarchical differential dynamic programming

by M Geisert, A Del Prete, N Mansard, F Romano, F Nori

IEEE Transactions on Robotics 33 (4), 819-833

Published in 2017 | Citations: 11

On centroidal dynamics and integrability of average angular velocity

by A Saccon, S Traversaro, F Nori, H Nijmeijer

IEEE Robotics and Automation Letters 2 (2), 943-950

Published in 2017 | Citations: 10

Force control and reaching movements on the icub humanoid robot

by G Metta, L Natale, F Nori, G Sandini

Robotics Research, 161-182

Published in 2017 | Citations: 7

Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot.

by S Dafarra, F Romano, F Nori

CoRR

Published in 2017 | Citations: 0

Design and validation of a series rotary elastic actuator for humanoid robots

by S TISI, S SALICETI, D PUCCI, P SILVESTRI, F NORI, G METTA

Advances in Cooperative Robotics, 783-790

Published in 2017 | Citations: 1

A unified view of the equations of motion used for control design of humanoid robots

by S Traversaro, D Pucci, F Nori

On line

Published in 2017 | Citations: 11