Enrico Mingo Hoffman

76 papers A* 11A 4Journal 40Unranked 21

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	A stable method for task priority adaptation in quadratic programming via reinforcement learning. Robotics Comput. Integr. Manuf. Andrea Testa, Marco Laghi, Edoardo Del Bianco, Gennaro Raiola, Enrico Mingo Hoffman, Arash Ajoudani
2025	—	`conf`	AHMP: Agile Humanoid Motion Planning with Contact Sequence Discovery. Humanoids Ioannis Tsikelis, Evangelos Tsiatsianas, Chairi Kiourt, Serena Ivaldi, Konstantinos I. Chatzilygeroudis, Enrico Mingo Hoffman
2025	J	`jnl`	Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization. IEEE Robotics Autom. Lett. Enrico Mingo Hoffman, Daniel Costanzi, Gabriele Fadini, Narcís Miguel, Andrea Del Prete, Luca Marchionni
2025	J	`jnl`	Benchmarking Standing Stability for Bipedal Robots. IEEE Access Juan Alejandro Castano, Eugenio Manuel Espuela, Jaime Ramos Rojas, Enrico Mingo Hoffman, Chengxu Zhou
2025	—	`conf`	CPC: Cascaded Predictive Control. Humanoids Nicola Scianca, Enrico Mingo Hoffman
2025	J	`jnl`	Design and Control of the Humanoid Robot COMAN+: Hardware Capabilities and Software Implementations. IEEE Robotics Autom. Mag. Francesco Ruscelli, Luca Rossini, Enrico Mingo Hoffman, Lorenzo Baccelliere, Arturo Laurenzi, Luca Muratore, Davide Antonucci, Stefano Cordasco, Nikos G. Tsagarakis
2025	J	`jnl`	Safe Bimanual Teleoperation with Language-Guided Collision Avoidance. CoRR Dionis Totsila, Clemente Donoso, Enrico Mingo Hoffman, Jean-Baptiste Mouret, Serena Ivaldi
2025	J	`jnl`	The 2025 Summer School on Optimization for Robotics [Education]. IEEE Robotics Autom. Mag. Konstantinos I. Chatzilygeroudis, Shivesh Kumar, Brian Plancher, Zachary Manchester, Enrico Mingo Hoffman, Patrick M. Wensing
2025	J	`jnl`	The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints. IEEE Robotics Autom. Mag. Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2024	A*	`conf`	Continuous Adaptation in Person Re-identification for Robotic Assistance. ICRA Federico Rollo, Andrea Zunino, Nikolaos G. Tsagarakis, Enrico Mingo Hoffman, Arash Ajoudani
2024	J	`jnl`	From Vocal Instructions to Household Tasks: The Inria Tiago++ in the euROBIN Service Robots Coopetition. CoRR Fabio Amadio, Clemente Donoso, Dionis Totsila, Raphael Lorenzo, Quentin Rouxel, Olivier Rochel, Enrico Mingo Hoffman, Jean-Baptiste Mouret, Serena Ivaldi
2024	J	`jnl`	Modeling and numerical analysis of Kangaroo lower body based on constrained dynamics of hybrid serial-parallel floating-base systems. Robotics Auton. Syst. Enrico Mingo Hoffman, Andrea Curti, Narcís Miguel, Sai Kishor Kothakota, Alberto Molina, Adria Roig, Luca Marchionni
2024	—	`conf`	Semantic-Based Loco-Manipulation for Human-Robot Collaboration in Industrial Environments. ERF (2) Federico Rollo, Gennaro Raiola, Nikolaos G. Tsagarakis, Marco Roveri, Enrico Mingo Hoffman, Arash Ajoudani
2023	—	`conf`	A Real-Time Approach for Humanoid Robot Walking Including Dynamic Obstacles Avoidance. Humanoids Luca Rossini, Enrico Mingo Hoffman, SeungHyeon Bang, Luis Sentis, Nikos G. Tsagarakis
2023	J	`jnl`	CARPE-ID: Continuously Adaptable Re-identification for Personalized Robot Assistance. CoRR Federico Rollo, Andrea Zunino, Nikolaos G. Tsagarakis, Enrico Mingo Hoffman, Arash Ajoudani
2023	A*	`conf`	Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. ICRA Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, Alessio Margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis
2023	J	`jnl`	Design and Validation of a Multi-Arm Relocatable Manipulator for Space Applications. CoRR Enrico Mingo Hoffman, Arturo Laurenzi, Francesco Ruscelli, Luca Rossini, Lorenzo Baccelliere, Davide Antonucci, Alessio Margan, Paolo Guria, Marco Migliorini, Stefano Cordasco, Gennaro Raiola, Luca Muratore, Joaquín Estremera Rodrigo, Andrea Rusconi, Guido Sangiovanni, Nikos G. Tsagarakis
2023	—	`conf`	Joint Position Bounds in Resolved-Acceleration Control: A Comparison. HFR Andrea Testa, Luigi Raiano, Marco Laghi, Arash Ajoudani, Enrico Mingo Hoffman
2023	J	`jnl`	Modeling and Numerical Analysis of Kangaroo Lower Body based on Constrained Dynamics of Hybrid Serial-Parallel Floating-Base Systems. CoRR Enrico Mingo Hoffman, Andrea Curti, Narcís Miguel, Sai Kishor Kothakota, Alberto Molina, Adria Roig, Luca Marchionni
2023	J	`jnl`	Multi-contact planning and control for humanoid robots: Design and validation of a complete framework. Robotics Auton. Syst. Paolo Ferrari, Luca Rossini, Francesco Ruscelli, Arturo Laurenzi, Giuseppe Oriolo, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2023	J	`jnl`	Semantic-based Loco-Manipulation for Human-Robot Collaboration in Industrial Environments. CoRR Federico Rollo, Gennaro Raiola, Nikolaos G. Tsagarakis, Marco Roveri, Enrico Mingo Hoffman, Arash Ajoudani
2022	J	`jnl`	Benchmarking Dynamic Balancing Controllers for Humanoid Robots. Robotics Juan Alejandro Castano, Joseph Humphreys, Enrico Mingo Hoffman, Noelia Fernández Talavera, Maria Cristina Rodriguez-Sánchez, Chengxu Zhou
2022	J	`jnl`	Editorial: Advancements in trajectory optimization and model predictive control for legged systems. Frontiers Robotics AI Enrico Mingo Hoffman, Chengxu Zhou, Matteo Parigi Polverini
2022	J	`jnl`	Horizon: A Trajectory Optimization Framework for Robotic Systems. Frontiers Robotics AI Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	J	`jnl`	Loco-Manipulation Planning for Legged Robots: Offline and Online Strategies. CoRR Luca Rossini, Paolo Ferrari, Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	J	`jnl`	Prototyping fast and agile motions for legged robots with Horizon. CoRR Francesco Ruscelli, Arturo Laurenzi, Nikos G. Tsagarakis, Enrico Mingo Hoffman
2022	J	`jnl`	WoLF: the Whole-body Locomotion Framework for Quadruped Robots. CoRR Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman
2021	A*	`conf`	Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. ICRA Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	Agile Actions with a Centaur-Type Humanoid: A Decoupled Approach. CoRR Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	A*	`conf`	Exploiting visual servoing and centroidal momentum for whole-body motion control of humanoid robots in absence of contacts and gravity. ICRA Enrico Mingo Hoffman, Antonio Paolillo
2021	—	`conf`	Mechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms. AIM Eamon Barrett, Enrico Mingo Hoffman, Lorenzo Baccelliere, Nikos G. Tsagarakis
2021	A*	`conf`	Modeling and Optimal Control for Rope-Assisted Rappelling Maneuvers. ICRA Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	NSPG: An Efficient Posture Generator Based on Null-Space Alteration and Kinetostatics Constraints. Frontiers Robotics AI Luca Rossini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2021	J	`jnl`	Omnidirectional Walking Pattern Generator Combining Virtual Constraints and Preview Control for Humanoid Robots. Frontiers Robotics AI Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2021	—	`conf`	Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. HUMANOIDS Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis
2021	J	`jnl`	Optimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion. CoRR Italo Belli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Paolo Rocco, Nikolaos G. Tsagarakis
2021	J	`jnl`	The Math of Tasks: A Domain Specific Language for Constraint-Based Task Specification. Int. J. Humanoid Robotics Enrico Mingo Hoffman, Nikos G. Tsagarakis
2020	A	`conf`	A Multi-Contact Motion Planning and Control Strategy for Physical Interaction Tasks Using a Humanoid Robot. IROS Francesco Ruscelli, Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2020	J	`jnl`	A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots. Frontiers Robotics AI Gennaro Raiola, Enrico Mingo Hoffman, Michele Focchi, Nikos G. Tsagarakis, Claudio Semini
2020	J	`jnl`	A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots. IEEE Robotics Autom. Lett. Enrico Mingo Hoffman, Matteo Parigi Polverini, Arturo Laurenzi, Nikos G. Tsagarakis
2020	J	`jnl`	An Augmented Kinematic Model for the Cartesian Control of the Hybrid Wheeled-Legged Quadrupedal Robot CENTAURO. IEEE Robotics Autom. Lett. Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
2020	J	`jnl`	Learning Robust Task Priorities and Gains for Control of Redundant Robots. IEEE Robotics Autom. Lett. Luigi Penco, Enrico Mingo Hoffman, Valerio Modugno, Waldez Gomes, Jean-Baptiste Mouret, Serena Ivaldi
2020	J	`jnl`	Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator. IEEE Robotics Autom. Lett. Matteo Parigi Polverini, Arturo Laurenzi, Enrico Mingo Hoffman, Francesco Ruscelli, Nikos G. Tsagarakis
2020	J	`jnl`	The XBot Real-Time Software Framework for Robotics: From the Developer to the User Perspective. IEEE Robotics Autom. Mag. Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2019	J	`jnl`	CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform. IEEE Robotics Autom. Lett. Navvab Kashiri, Lorenzo Baccelliere, Luca Muratore, Arturo Laurenzi, Zeyu Ren, Enrico Mingo Hoffman, Malgorzata Kamedula, Giuseppe Francesco Rigano, Jörn Malzahn, Stefano Cordasco, Paolo Guria, Alessio Margan, Nikos G. Tsagarakis
2019	A*	`conf`	CartesI/O: A ROS Based Real-Time Capable Cartesian Control Framework. ICRA Arturo Laurenzi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis
2019	J	`jnl`	Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality. IEEE Robotics Autom. Mag. Pouya Mohammadi, Enrico Mingo Hoffman, Niels Dehio, Milad S. Malekzadeh, Martin A. Giese, Nikos G. Tsagarakis, Jochen J. Steil
2019	J	`jnl`	Developing Humanoid Robots for Applications in Real-World Scenarios [From the Guest Editors]. IEEE Robotics Autom. Mag. Enrico Mingo Hoffman, Stéphane Caron, Francesco Ferro, Luis Sentis, Nikos G. Tsagarakis
2019	J	`jnl`	Flexible Disaster Response of Tomorrow - Final Presentation and Evaluation of the CENTAURO System. CoRR Tobias Klamt, Diego Rodriguez, Lorenzo Baccelliere, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo Hoffman, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke
2019	J	`jnl`	Flexible Disaster Response of Tomorrow: Final Presentation and Evaluation of the CENTAURO System. IEEE Robotics Autom. Mag. Tobias Klamt, Malgorzata Kamedula, Hakan Karaoguz, Navvab Kashiri, Arturo Laurenzi, Christian Lenz, Daniele Leonardis, Enrico Mingo Hoffman, Luca Muratore, Dmytro Pavlichenko, Francesco Porcini, Diego Rodriguez, Zeyu Ren, Fabian Schilling, Max Schwarz, Massimiliano Solazzi, Michael Felsberg, Antonio Frisoli, Michael Gustmann, Patric Jensfelt, Klas Nordberg, Juergen Rossmann, Lorenzo Baccelliere, Uwe Süss, Nikos G. Tsagarakis, Sven Behnke, Xi Chen, Domenico Chiaradia, Torben Cichon, Massimiliano Gabardi, Paolo Guria, Karl Holmquist
2019	A*	`conf`	Reactive Walking Based on Upper-Body Manipulability: An application to Intention Detection and Reaction. ICRA Pouya Mohammadi, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis, Jochen J. Steil
2019	J	`jnl`	Sparse Optimization of Contact Forces for Balancing Control of Multi-Legged Humanoids. IEEE Robotics Autom. Lett. Matteo Parigi Polverini, Enrico Mingo Hoffman, Arturo Laurenzi, Nikos G. Tsagarakis
2019	A	`conf`	Synchronizing Virtual Constraints and Preview Controller: a Walking Pattern Generator for the Humanoid Robot COMAN+. IROS Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2019	—	`conf`	Whole-Body Stabilization for Visual-Based Box Lifting with the COMAN+ Robot. IRC Arturo Laurenzi, Dimitrios Kanoulas, Enrico Mingo Hoffman, Luca Muratore, Nikolaos G. Tsagarakis
2018	A	`conf`	A Fail-Safe Semi-Centralized Impedance Controller: Validation on a Parallel Kinematics Ankle. IROS Francesco Ruscelli, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	A*	`conf`	A Whole Body Attitude Stabilizer for Hybrid Wheeled-Legged Quadruped Robots. ICRA Juan Alejandro Castano, Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Malgorzata Karnedula, Nikos G. Tsagarakis
2018	J	`jnl`	A mixed real-time robot hardware abstraction layer (R-HAL). Encycl. Semantic Comput. Robotic Intell. Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	—	`conf`	An open-source architecture for simulation, execution and analysis of real-time robotics systems. SIMPAR Dennis Leroy Wigand, Pouya Mohammadi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Jochen J. Steil, Sebastian Wrede
2018	—	`conf`	Balancing Control Through Post-Optimization of Contact Forces. Humanoids Arturo Laurenzi, Enrico Mingo Hoffman, Matteo Parigi Polverini, Nikos G. Tsagarakis
2018	A*	`conf`	Enhanced Tele-interaction in Unknown Environments Using Semi-Autonomous Motion and Impedance Regulation Principles. ICRA Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Lorenzo Baccelliere, Navvab Kashiri, Darwin G. Caldwell, Nikos G. Tsagarakis
2018	A*	`conf`	Multi-Priority Cartesian Impedance Control Based on Quadratic Programming Optimization. ICRA Enrico Mingo Hoffman, Arturo Laurenzi, Luca Muratore, Nikos G. Tsagarakis, Darwin G. Caldwell
2018	A	`conf`	Quadrupedal walking motion and footstep placement through Linear Model Predictive Control. IROS Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2018	—	`conf`	Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid. Humanoids Luigi Penco, Brice Clement, Valerio Modugno, Enrico Mingo Hoffman, Gabriele Nava, Daniele Pucci, Nikos G. Tsagarakis, Jean-Baptiste Mourert, Serena Ivaldi
2018	—	`conf`	Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework. IRC Giuseppe Francesco Rigano, Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Nikos G. Tsagarakis
2017	J	`jnl`	Corrigendum: The Walk-Man Robot Software Architecture. Frontiers Robotics AI Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alberto Cardellino, Alessio Rocchi, Enrico Mingo Hoffman, Corrado Pavan, Dimitrios Kanoulas, Nikos G. Tsagarakis, Lorenzo Natale, Lucia Pallottino
2017	—	`conf`	Robot control for dummies: Insights and examples using OpenSoT. Humanoids Enrico Mingo Hoffman, Alessio Rocchi, Arturo Laurenzi, Nikos G. Tsagarakis
2017	J	`jnl`	WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments. J. Field Robotics Nikolaos G. Tsagarakis, Darwin G. Caldwell, Francesca Negrello, Wooseok Choi, Lorenzo Baccelliere, Vo-Gia Loc, J. Noorden, Luca Muratore, Alessio Margan, Alberto Cardellino, Lorenzo Natale, Enrico Mingo Hoffman, Houman Dallali, Navvab Kashiri, Jörn Malzahn, Jinoh Lee, Przemyslaw Kryczka, Dimitrios Kanoulas, Manolo Garabini, Manuel G. Catalano, Mirko Ferrati, Valerio Varricchio, Lucia Pallottino, Corrado Pavan, Antonio Bicchi, Alessandro Settimi, Alessio Rocchi, Arash Ajoudani
2017	—	`conf`	XBotCore: A Real-Time Cross-Robot Software Platform. IRC Luca Muratore, Arturo Laurenzi, Enrico Mingo Hoffman, Alessio Rocchi, Darwin G. Caldwell, Nikos G. Tsagarakis
2016	—	`conf`	An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy. Humanoids Peter Kaiser, Dimitrios Kanoulas, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Tamim Asfour
2016	—	`conf`	Robot Dynamics Constraint for Inverse Kinematics. ARK Enrico Mingo Hoffman, Alessio Rocchi, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	—	`conf`	Efficient self-collision avoidance based on focus of interest for humanoid robots. Humanoids Cheng Fang, Alessio Rocchi, Enrico Mingo Hoffman, Nikos G. Tsagarakis, Darwin G. Caldwell
2015	A*	`conf`	OpenSoT: A whole-body control library for the compliant humanoid robot COMAN. ICRA Alessio Rocchi, Enrico Mingo Hoffman, Darwin G. Caldwell, Nikos G. Tsagarakis
2014	—	`conf`	A Modular Approach for Remote Operation of Humanoid Robots in Search and Rescue Scenarios. MESAS Alessandro Settimi, Corrado Pavan, Valerio Varricchio, Mirko Ferrati, Enrico Mingo Hoffman, Alessio Rocchi, Kamilo Melo, Nikos G. Tsagarakis, Antonio Bicchi
2014	—	`conf`	A manipulation framework for compliant humanoid COMAN: Application to a valve turning task. Humanoids Arash Ajoudani, Jinoh Lee, Alessio Rocchi, Mirko Ferrati, Enrico Mingo Hoffman, Alessandro Settimi, Darwin G. Caldwell, Antonio Bicchi, Nikos G. Tsagarakis
2014	—	`conf`	Upper-body impedance control with variable stiffness for a door opening task. Humanoids Jinoh Lee, Arash Ajoudani, Enrico Mingo Hoffman, Alessio Rocchi, Alessandro Settimi, Mirko Ferrati, Antonio Bicchi, Nikolaos G. Tsagarakis, Darwin G. Caldwell
2014	—	`conf`	Yarp Based Plugins for Gazebo Simulator. MESAS Enrico Mingo Hoffman, Silvio Traversaro, Alessio Rocchi, Mirko Ferrati, Alessandro Settimi, Francesco Romano, Lorenzo Natale, Antonio Bicchi, Francesco Nori, Nikos G. Tsagarakis