Stefano Dafarra

57 papers A* 3A 3Journal 38Unranked 12

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`	Analysis and Perspectives on the ANA Avatar XPRIZE Competition. Int. J. Soc. Robotics 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, Serena Ivaldi, Fumio Kanehiro, Abderrahmane Kheddar, Gaëlle Lannuzel, Jacquelyn Ford Morie, Patrick Naughton, Steve NGuyen, Paul Yu Oh, Taskin Padir, Jim Pippine, Jaeheung Park, Jean Chagas Vaz, Daniele Pucci, John Peter Whitney, Peggy Wu, David Locke
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	J	`jnl`	Learning to Evaluate Autonomous Behaviour in Human-Robot Interaction. CoRR Matteo Tiezzi, Tommaso Apicella, Carlos Cardenas-Perez, Giovanni Fregonese, Stefano Dafarra, Pietro Morerio, Daniele Pucci, Alessio Del Bue
2025	J	`jnl`	Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking. IEEE Robotics Autom. Lett. Akhil Sathuluri, Carlotta Sartore, Stefano Dafarra, Silvio Traversaro, Markus Zimmermann, Daniele Pucci
2024	J	`jnl`	Analysis and Perspectives on the ANA Avatar XPRIZE Competition. CoRR 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, Serena Ivaldi, Fumio Kanehiro, Abderrahmane Kheddar, Gaëlle Lannuzel, Jacquelyn Ford Morie, Patrick Naughton, Steve NGuyen, Paul Y. Oh, Taskin Padir, Jim Pippine, Jaeheung Park, Daniele Pucci, Jean Chagas Vaz, John Peter Whitney, Peggy Wu, David Locke
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`	Physical and Digital GenAI Avatars: Do Interactive Representations of Individual Human Persons Have Agency and Moral Responsibility? Robophilosophy Mihaela Constantinescu, Radu Uszkai, Diana Madalina Mocanu, George Bogateanu, Stefano Dafarra
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	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	—	`conf`	Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. Humanoids Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
2023	J	`jnl`	Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization. CoRR Carlotta Sartore, Lorenzo Rapetti, Fabio Bergonti, Stefano Dafarra, Silvio Traversaro, 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	J	`jnl`	An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet. CoRR Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro, 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	—	`conf`	Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. Humanoids Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, 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	J	`jnl`	Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter. CoRR Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri, Riccardo Grieco, Gianluca Milani, Enrico Valli, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
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	J	`jnl`	Model-Based Real-Time Motion Tracking Using Dynamical Inverse Kinematics. Algorithms Lorenzo Rapetti, Yeshasvi Tirupachuri, Kourosh Darvish, Stefano Dafarra, Gabriele Nava, Claudia Latella, Daniele Pucci
2020	A	`conf`	Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. IROS Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt
2020	J	`jnl`	Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas. CoRR Stefano Dafarra, Sylvain Bertrand, Robert J. Griffin, Giorgio Metta, Daniele Pucci, Jerry E. Pratt
2020	J	`jnl`	Predictive Whole-Body Control of Humanoid Robot Locomotion. CoRR Stefano Dafarra
2020	—	`—`	Predictive Whole-Body Control of Humanoid Robot Locomotion. Stefano Dafarra
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
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
2018	A	`conf`	A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. IROS Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci
2018	J	`jnl`	A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots. CoRR Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro, Luca Fiorio, Francesco Romano, Francesco Nori, Giorgio Metta, Daniele Pucci
2018	J	`jnl`	The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction. IEEE Robotics Autom. Lett. Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy, Claudia Latella, Maria Lazzaroni, Ryan Lober, Marta Lorenzini, Daniele Pucci, Olivier Sigaud, Silvio Traversaro, Jan Babic, Serena Ivaldi, Michael N. Mistry, Vincent Padois, Francesco Nori
2017	—	`conf`	A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot. RAAD Stefano Dafarra, Francesco Romano, Francesco Nori
2017	J	`jnl`	A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot. CoRR Stefano Dafarra, Francesco Romano, Francesco Nori
2017	J	`jnl`	Modeling and Control of Humanoid Robots in Dynamic Environments: iCub Balancing on a Seesaw. CoRR Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori
2017	—	`conf`	Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw. Humanoids Gabriele Nava, Daniele Pucci, Nuno Guedelha, Silvio Traversaro, Francesco Romano, Stefano Dafarra, Francesco Nori
2017	J	`jnl`	Synthesis of a Predictive Push-Recovery Controller: Simulation Results on the iCub Humanoid Robot. CoRR Stefano Dafarra, Francesco Romano, Francesco Nori
2017	J	`jnl`	Torque-Controlled Stepping-Strategy Push Recovery: Design and Implementation on the iCub Humanoid Robot. CoRR Stefano Dafarra, Francesco Romano, Francesco Nori
2016	—	`conf`	Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot. Humanoids Stefano Dafarra, Francesco Romano, Francesco Nori