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ORCIDGiulio Romualdi
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2020 – today
- 2024
[j6]Carlos Cardenas-Perez
, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro, Pietro Morerio, Alessio Del Bue, Daniele Pucci:
XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration. IEEE Robotics Autom. Lett. 9(12): 11617-11624 (2024)- [j5]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, Carlotta Sartore, Mohamed Elobaid, Nuno Guedelha, Connor W. Herron, Alexander Leonessa, Francesco Draicchio, Giorgio Metta, Marco Maggiali, Daniele Pucci:
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. Sci. Robotics 9(86) (2024) - [c15]Ines Sorrentino, Giulio Romualdi, Fabio Bergonti, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci:
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives. Humanoids 2024: 505-512 - [c14]Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment. Humanoids 2024: 584-591 - [c13]Carlotta Sartore, Marco Rando, Giulio Romualdi, Cesare Molinari, Lorenzo Rosasco, Daniele Pucci:
Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques. Humanoids 2024: 996-1003 - [c12]Ines Sorrentino, Giulio Romualdi, Daniele Pucci:
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots. ICRA 2024: 13150-13156 - [i19]Ines Sorrentino, Giulio Romualdi, Daniele Pucci:
UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots. CoRR abs/2402.18380 (2024) - [i18]Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro, Pietro Morerio, Alessio Del Bue, Daniele Pucci:
XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration. CoRR abs/2406.15833 (2024) - [i17]Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci:
Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. CoRR abs/2409.01144 (2024) - [i16]Mohamed Elobaid, Stefano Dafarra, Ehsan Ranjbari, Giulio Romualdi, Tomohiro Chaki, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci:
Remote telepresence over large distances via robot avatars: case studies. CoRR abs/2409.01159 (2024) - [i15]Carlotta Sartore, Marco Rando, Giulio Romualdi, Cesare Molinari, Lorenzo Rosasco, Daniele Pucci:
Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques. CoRR abs/2409.18649 (2024) - [i14]Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment. CoRR abs/2410.07849 (2024) - [i13]Ines Sorrentino, Giulio Romualdi, Fabio Bergonti, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci:
Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives. CoRR abs/2410.12685 (2024) - 2023
- [c11]Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci:
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization. ICRA 2023: 12233-12239 - [i12]Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci:
Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization. CoRR abs/2305.10917 (2023) - 2022
- [j4]Paolo Maria Viceconte, Raffaello Camoriano, Giulio Romualdi, Diego Ferigo, Stefano Dafarra, Silvio Traversaro, Giuseppe Oriolo, Lorenzo Rosasco, Daniele Pucci:
ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots. IEEE Robotics Autom. Lett. 7(2): 2779-2786 (2022) - [j3]Stefano Dafarra, Giulio Romualdi, Daniele Pucci:
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion. IEEE Trans. Robotics 38(6): 3414-3433 (2022) - [c10]Giulio Romualdi, Nahuel A. Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse:
Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. Humanoids 2022: 104-111 - [c9]Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci:
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. Humanoids 2022: 651-658 - [c8]Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci:
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. ICRA 2022: 10412-10419 - [c7]Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Silvio Traversaro, Daniele Pucci:
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet. IROS 2022: 6780-6787 - [i11]Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci:
Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. CoRR abs/2203.04489 (2022) - [i10]Stefano Dafarra, Kourosh Darvish, Riccardo Grieco, Gianluca Milani, Ugo Pattacini, Lorenzo Rapetti, Giulio Romualdi, Mattia Salvi, Alessandro Scalzo, Ines Sorrentino, Davide Tomè, Silvio Traversaro, Enrico Valli, Paolo Maria Viceconte, Giorgio Metta, Marco Maggiali, Daniele Pucci:
iCub3 Avatar System. CoRR abs/2203.06972 (2022) - [i9]Stefano Dafarra, Giulio Romualdi, Daniele Pucci:
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion. CoRR abs/2207.03198 (2022) - [i8]Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci:
Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. CoRR abs/2211.12849 (2022) - 2021
- [j2]Giulio Romualdi, Stefano Dafarra, Daniele Pucci:
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. IEEE Robotics Autom. Lett. 6(3): 4289-4296 (2021) - [c6]Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. ICRA 2021: 2904-2910 - [i7]Giulio Romualdi, Stefano Dafarra, Daniele Pucci:
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. CoRR abs/2105.14622 (2021) - [i6]Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. CoRR abs/2105.14914 (2021) - 2020
- [j1]Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots. Int. J. Humanoid Robotics 17(1): 1950034:1-1950034:25 (2020) - [c5]Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci:
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. ICRA 2020: 1511-1517 - [i5]Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci:
Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. CoRR abs/2003.04633 (2020)
2010 – 2019
- 2019
- [c4]Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci:
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. Humanoids 2019: 671-678 - [c3]Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci:
Whole-Body Geometric Retargeting for Humanoid Robots. Humanoids 2019: 679-686 - [c2]Mohamed Elobaid, Yue Hu, Giulio Romualdi, Stefano Dafarra, Jan Babic, Daniele Pucci:
Telexistence and Teleoperation for Walking Humanoid Robots. IntelliSys (2) 2019: 1106-1121 - [i4]Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci:
Whole-Body Geometric Retargeting for Humanoid Robots. CoRR abs/1909.10080 (2019) - [i3]Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci:
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. CoRR abs/1909.10403 (2019) - [i2]Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci:
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots. CoRR abs/1911.13233 (2019) - 2018
- [c1]Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci:
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. Humanoids 2018: 1-9 - [i1]Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci:
A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. CoRR abs/1809.02167 (2018)
Coauthor Index
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