Publications

Selected peer-reviewed work on humanoid locomotion. First-author papers have a dedicated project page with videos, code and results. For the complete and up-to-date list, see my Google Scholar profile.

• 2024HUMANOIDS

  Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment

  G. Romualdi, P. M. Viceconte, L. Moretti, I. Sorrentino, S. Dafarra, S. Traversaro, D. Pucci · IEEE-RAS Int. Conf. on Humanoid Robots

  • Project page
  • Paper
  • arXiv
  • Website
• 2024SCI. ROB.

  iCub3 Avatar System: Enabling Remote Fully Immersive Embodiment of Humanoid Robots

  S. Dafarra, U. Pattacini, G. Romualdi, et al. · Science Robotics

  • Paper
• 2022T-RO

  Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion

  G. Romualdi, S. Dafarra, D. Pucci · IEEE Transactions on Robotics

  • Project page
  • Paper
• 2022HUMANOIDS

  Whole-Body Control and Estimation of Humanoid Robots with Link Flexibility

  G. Romualdi, S. Dafarra, S. Traversaro, D. Pucci · IEEE-RAS Int. Conf. on Humanoid Robots

  • Project page
  • Paper
• 2022ICRA

  Online Non-linear Centroidal MPC for Humanoid Robot Locomotion with Step Adjustment

  G. Romualdi, S. Dafarra, G. L'Erario, I. Sorrentino, S. Traversaro, D. Pucci · IEEE Int. Conf. on Robotics and Automation

  • Project page
  • Paper
  • arXiv
  • Code
• 2022RA-L

  ADHERENT: Learning Human-like Trajectory Generators for Whole-body Control of Humanoid Robots

  P. M. Viceconte, R. Camoriano, G. Romualdi, et al. · IEEE Robotics and Automation Letters

  • Paper
• 2021RA-L

  Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control

  G. Romualdi, S. Dafarra, D. Pucci · IEEE Robotics and Automation Letters

  • Project page
  • Paper
  • Code
• 2019IJHR

  A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots

  G. Romualdi, S. Dafarra, Y. Hu, P. Ramadoss, F. J. A. Chavez, S. Traversaro, D. Pucci · International Journal of Humanoid Robotics

  • Project page
  • Paper
  • Code

Full list on Google Scholar