Cover Image

Whole-Body Trajectory Optimization for Robot Multimodal Locomotion

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	L'Erario, Giuseppe, Nava, Gabriele, Romualdi, Giulio, Bergonti, Fabio, Razza, Valentino, Dafarra, Stefano, Pucci, Daniele
Format:	Preprint
Published:	2022
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry
by: Vanteddu, Punith Reddy, et al.
Published: (2024)

Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives
by: Sorrentino, Ines, et al.
Published: (2024)

Co-Design Optimisation of Morphing Topology and Control of Winged Drones
by: Bergonti, Fabio, et al.
Published: (2023)

XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
by: Cardenas-Perez, Carlos, et al.
Published: (2024)

Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering
by: D'Elia, Evelyn, et al.
Published: (2025)

CAD-Driven Co-Design for Flight-Ready Jet-Powered Humanoids
by: Vanteddu, Punith Reddy, et al.
Published: (2025)

Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
by: Elobaid, Mohamed, et al.
Published: (2024)

A Flexible MATLAB/Simulink Simulator for Robotic Floating-base Systems in Contact with the Ground: Theoretical background and Implementation Details
by: Guedelha, Nuno, et al.
Published: (2024)

Physics-Informed Learning for Human Whole-Body Kinematics Prediction via Sparse IMUs
by: Guo, Cheng, et al.
Published: (2025)

Unified Multi-Rate Model Predictive Control for a Jet-Powered Humanoid Robot
by: Gorbani, Davide, et al.
Published: (2025)

Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
by: Romualdi, Giulio, et al.
Published: (2024)

UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots
by: Sorrentino, Ines, et al.
Published: (2024)

Data-fused MPC with Guarantees: Application to Flying Humanoid Robots
by: Gorbani, Davide, et al.
Published: (2025)

Learning to Walk and Fly with Adversarial Motion Priors
by: L'Erario, Giuseppe, et al.
Published: (2023)

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization
by: Elobaid, Mohamed, et al.
Published: (2023)

Remote telepresence over large distances via robot avatars: case studies
by: Elobaid, Mohamed, et al.
Published: (2024)

iRonCub 3: The Jet-Powered Flying Humanoid Robot
by: Gorbani, Davide, et al.
Published: (2025)

Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques
by: Sartore, Carlotta, et al.
Published: (2024)

Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots
by: Sorrentino, Ines, et al.
Published: (2025)

A Framework for Optimal Ankle Design of Humanoid Robots
by: Cervettini, Guglielmo, et al.
Published: (2025)

Towards Shared Embodied Intelligence in Humanoid Robots through Optimization Development and Testing of the Human Aware ergoCub Robot
by: Sartore, Carlotta, et al.
Published: (2026)

Learning Aerodynamics for the Control of Flying Humanoid Robots
by: Paolino, Antonello, et al.
Published: (2025)

GPO: Growing Policy Optimization for Legged Robot Locomotion and Whole-Body Control
by: Liao, Shuhao, et al.
Published: (2026)

Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization
by: Zhang, Xiaoyu, et al.
Published: (2026)

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization
by: Wang, Haoyu, et al.
Published: (2025)

RoboForge: Physically Optimized Text-guided Whole-Body Locomotion for Humanoids
by: Yuan, Xichen, et al.
Published: (2026)

Learning to Evaluate Autonomous Behaviour in Human-Robot Interaction
by: Tiezzi, Matteo, et al.
Published: (2025)

iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots
by: Dafarra, Stefano, et al.
Published: (2022)

Scalable and General Whole-Body Control for Cross-Humanoid Locomotion
by: Xue, Yufei, et al.
Published: (2026)

Whole-body Humanoid Robot Locomotion with Human Reference
by: Zhang, Qiang, et al.
Published: (2024)

Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
by: Corbères, Thomas, et al.
Published: (2023)

Learning Whole-Body Humanoid Locomotion via Motion Generation and Motion Tracking
by: Zhang, Zewei, et al.
Published: (2026)

Integrating Learning-Based Manipulation and Physics-Based Locomotion for Whole-Body Badminton Robot Control
by: Wang, Haochen, et al.
Published: (2025)

Whole-Brain Connectomic Graph Model Enables Whole-Body Locomotion Control in Fruit Fly
by: Jin, Zehao, et al.
Published: (2026)

A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion
by: Xue, Yufei, et al.
Published: (2025)

Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation
by: Ren, Peng, et al.
Published: (2026)

Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
by: Yang, Shunpeng, et al.
Published: (2024)

HiLo: Learning Whole-Body Human-like Locomotion with Motion Tracking Controller
by: Zhang, Qiyuan, et al.
Published: (2025)

HWC-Loco: A Hierarchical Whole-Body Control Approach to Robust Humanoid Locomotion
by: Lin, Sixu, et al.
Published: (2025)

HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation
by: Sferrazza, Carmelo, et al.
Published: (2024)