Giulio Romualdi

49 papers A* 6A 3Journal 31Unranked 9

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots. IEEE Robotics Autom. Lett. Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2025	J	`jnl`	Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain. IEEE Robotics Autom. Lett. Roberto Mauceri, Stefano Dafarra, Giulio Romualdi, Marco Gabiccini, Daniele Pucci
2025	A*	`conf`	Online Nonlinear MPC for Multimodal Locomotion. ICRA Saverio Taliani, Gabriele Nava, Giuseppe L'Erario, Mohamed Elobaid, Giulio Romualdi, Daniele Pucci
2025	A	`conf`	Physics-Informed Learning for Human Whole-Body Kinematics Prediction via Sparse IMUs. IROS Cheng Guo, Giuseppe L'Erario, Giulio Romualdi, Mattia Leonori, Marta Lorenzini, Arash Ajoudani, Daniele Pucci
2025	J	`jnl`	Physics-Informed Learning for Human Whole-Body Kinematics Prediction via Sparse IMUs. CoRR Cheng Guo, Giuseppe L'Erario, Giulio Romualdi, Mattia Leonori, Marta Lorenzini, Arash Ajoudani, Daniele Pucci
2025	J	`jnl`	Physics-Informed Neural Networks With Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots. IEEE Robotics Autom. Lett. Ines Sorrentino, Giulio Romualdi, Lorenzo Moretti, Silvio Traversaro, Daniele Pucci
2025	J	`jnl`	Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots. CoRR Ines Sorrentino, Giulio Romualdi, Lorenzo Moretti, Silvio Traversaro, Daniele Pucci
2025	A	`conf`	Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering. IROS Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti, Diego Ferigo, Giulio Romualdi, Giuseppe L'Erario, Raffaello Camoriano, Daniele Pucci
2025	J	`jnl`	Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering. CoRR Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti, Diego Ferigo, Giulio Romualdi, Giuseppe L'Erario, Raffaello Camoriano, Daniele Pucci
2024	—	`conf`	Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques. Humanoids Carlotta Sartore, Marco Rando, Giulio Romualdi, Cesare Molinari, Lorenzo Rosasco, Daniele Pucci
2024	J	`jnl`	Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques. CoRR Carlotta Sartore, Marco Rando, Giulio Romualdi, Cesare Molinari, Lorenzo Rosasco, Daniele Pucci
2024	—	`conf`	Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment. Humanoids Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2024	J	`jnl`	Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment. CoRR Giulio Romualdi, Paolo Maria Viceconte, Lorenzo Moretti, Ines Sorrentino, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2024	J	`jnl`	Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots. CoRR Mohamed Elobaid, Giulio Turrisi, Lorenzo Rapetti, Giulio Romualdi, Stefano Dafarra, Tomohiro Kawakami, Tomohiro Chaki, Takahide Yoshiike, Claudio Semini, Daniele Pucci
2024	—	`conf`	Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives. Humanoids Ines Sorrentino, Giulio Romualdi, Fabio Bergonti, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci
2024	J	`jnl`	Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives. CoRR Ines Sorrentino, Giulio Romualdi, Fabio Bergonti, Giuseppe L'Erario, Silvio Traversaro, Daniele Pucci
2024	J	`jnl`	Remote telepresence over large distances via robot avatars: case studies. CoRR Mohamed Elobaid, Stefano Dafarra, Ehsan Ranjbari, Giulio Romualdi, Tomohiro Chaki, Tomohiro Kawakami, Takahide Yoshiike, Daniele Pucci
2024	A*	`conf`	UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots. ICRA Ines Sorrentino, Giulio Romualdi, Daniele Pucci
2024	J	`jnl`	UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots. CoRR Ines Sorrentino, Giulio Romualdi, Daniele Pucci
2024	J	`jnl`	XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration. IEEE Robotics Autom. Lett. Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro, Pietro Morerio, Alessio Del Bue, Daniele Pucci
2024	J	`jnl`	XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration. CoRR Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro, Pietro Morerio, Alessio Del Bue, Daniele Pucci
2024	J	`jnl`	iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots. Sci. Robotics 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
2023	A*	`conf`	Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization. ICRA Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
2023	J	`jnl`	Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization. CoRR Mohamed Elobaid, Giulio Romualdi, Gabriele Nava, Lorenzo Rapetti, Hosameldin Awadalla Omer Mohamed, Daniele Pucci
2022	J	`jnl`	ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots. IEEE Robotics Autom. Lett. Paolo Maria Viceconte, Raffaello Camoriano, Giulio Romualdi, Diego Ferigo, Stefano Dafarra, Silvio Traversaro, Giuseppe Oriolo, Lorenzo Rosasco, Daniele Pucci
2022	A	`conf`	Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet. IROS Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2022	J	`jnl`	Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion. CoRR Stefano Dafarra, Giulio Romualdi, Daniele Pucci
2022	J	`jnl`	Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion. IEEE Trans. Robotics Stefano Dafarra, Giulio Romualdi, Daniele Pucci
2022	A*	`conf`	Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. ICRA Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci
2022	J	`jnl`	Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment. CoRR Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci
2022	—	`conf`	Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility. Humanoids Giulio Romualdi, Nahuel A. Villa, Stefano Dafarra, Daniele Pucci, Olivier Stasse
2022	—	`conf`	Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. Humanoids Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci
2022	J	`jnl`	Whole-Body Trajectory Optimization for Robot Multimodal Locomotion. CoRR Giuseppe L'Erario, Gabriele Nava, Giulio Romualdi, Fabio Bergonti, Valentino Razza, Stefano Dafarra, Daniele Pucci
2022	J	`jnl`	iCub3 Avatar System. CoRR 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
2021	A*	`conf`	DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. ICRA Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
2021	J	`jnl`	DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups. CoRR Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
2021	J	`jnl`	Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. CoRR Giulio Romualdi, Stefano Dafarra, Daniele Pucci
2021	J	`jnl`	Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control. IEEE Robotics Autom. Lett. Giulio Romualdi, Stefano Dafarra, Daniele Pucci
2020	J	`jnl`	A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots. Int. J. Humanoid Robotics Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
2020	A*	`conf`	Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. ICRA Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci
2020	J	`jnl`	Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach. CoRR Stefano Dafarra, Giulio Romualdi, Giorgio Metta, Daniele Pucci
2019	J	`jnl`	A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots. CoRR Giulio Romualdi, Stefano Dafarra, Yue Hu, Prashanth Ramadoss, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
2019	—	`conf`	Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. Humanoids Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci
2019	J	`jnl`	Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots. CoRR Milad Shafiee, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Daniele Pucci
2019	—	`conf`	Telexistence and Teleoperation for Walking Humanoid Robots. IntelliSys (2) Mohamed Elobaid, Yue Hu, Giulio Romualdi, Stefano Dafarra, Jan Babic, Daniele Pucci
2019	—	`conf`	Whole-Body Geometric Retargeting for Humanoid Robots. Humanoids Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci
2019	J	`jnl`	Whole-Body Geometric Retargeting for Humanoid Robots. CoRR Kourosh Darvish, Yeshasvi Tirupachuri, Giulio Romualdi, Lorenzo Rapetti, Diego Ferigo, Francisco Javier Andrade Chavez, Daniele Pucci
2018	—	`conf`	A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. Humanoids Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci
2018	J	`jnl`	A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots. CoRR Giulio Romualdi, Stefano Dafarra, Yue Hu, Daniele Pucci