Publications

Selected peer-reviewed work on humanoid locomotion. First-author papers have a dedicated project page with videos, code and results. The full list below is synced automatically from 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

• 2026

  SKooP: Symmetric Koopman Predictions for Faster and More Generalizable Legged Robot Locomotion with Reinforcement Learning

  E D'Elia, W Zhan, G Turrisi, G Romualdi, G L'Erario, R Camoriano, W Pan, ... · arXiv preprint arXiv:2607.11624, 2026

• 2026

  Towards shared embodied intelligence in humanoid robots through optimization, development and testing of the human-aware ergoCub robot

  C Sartore, M Elobaid, L Rapetti, G Romualdi, S Dafarra, NA Piga, ... · Nature Machine Intelligence, 1-17, 2026

• 2025

  Adaptive non-linear centroidal mpc with stability guarantees for robust locomotion of legged robots

  M Elobaid, G Turrisi, L Rapetti, G Romualdi, S Dafarra, T Kawakami, ... · IEEE Robotics and Automation Letters 10 (3), 2806-2813, 2025

  Cited by 23

• 2025

  Physics-informed neural networks with unscented kalman filter for sensorless joint torque estimation in humanoid robots

  I Sorrentino, G Romualdi, L Moretti, S Traversaro, D Pucci · IEEE Robotics and Automation Letters 10 (6), 5705-5712, 2025

  Cited by 21

• 2025

  Physics-Informed Learning for Human Whole-Body Kinematics Prediction via Sparse IMUs

  C Guo, G L’Erario, GRM Leonori, M Lorenzini, A Ajoudani, D Pucci · 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2025

  Cited by 3

• 2025

  Online Nonlinear MPC for Multimodal Locomotion

  S Taliani, G Nava, G L'Erario, M Elobaid, G Romualdi, D Pucci · 2025 IEEE International Conference on Robotics and Automation (ICRA), 12344 …, 2025

  Cited by 1

• 2025

  Towards a shared embodied intelligence of humanoid robots: Optimization, development, and testing of the human-aware ergocub robot

  C Sartore, M Elobaid, L Rapetti, G Romualdi, S Dafarra, NA Piga, ... ·

  Cited by 1

• 2025

  Stabilizing Humanoid Robot Trajectory Generation via Physics-Informed Learning and Control-Informed Steering

  E D’Elia, PM Viceconte, L Rapetti, D Ferigo, G Romualdi, G L’Erario, ... · 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2025

• 2025

  Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain

  R Mauceri, S Dafarra, G Romualdi, M Gabiccini, D Pucci · IEEE Robotics and Automation Letters, 2025

• 2024

  iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots

  S Dafarra, U Pattacini, G Romualdi, L Rapetti, R Grieco, K Darvish, ... · Science Robotics 9 (86), eadh3834, 2024

  Cited by 127

• 2024

  Ukf-based sensor fusion for joint-torque sensorless humanoid robots

  I Sorrentino, G Romualdi, D Pucci · 2024 IEEE International Conference on Robotics and Automation (ICRA), 13150 …, 2024

  Cited by 17

• 2024

  Xbg: End-to-end imitation learning for autonomous behaviour in human-robot interaction and collaboration

  C Cardenas-Perez, G Romualdi, M Elobaid, S Dafarra, G L'Erario, ... · IEEE Robotics and Automation Letters 9 (12), 11617-11624, 2024

  Cited by 14

• 2024

  Physics-Informed Learning for the Friction Modeling of High-Ratio Harmonic Drives

  I Sorrentino, G Romualdi, F Bergonti, G L’Erario, S Traversaro, D Pucci · 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids …, 2024

  Cited by 13

• 2024

  Automatic Gain Tuning for Humanoid Robots Walking Architectures Using Gradient-Free Optimization Techniques

  C Sartore, M Rando, G Romualdi, C Molinari, L Rosasco, D Pucci · 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids …, 2024

  Cited by 8

• 2024

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

  G Romualdi, PM Viceconte, L Moretti, I Sorrentino, S Dafarra, ... · 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids …, 2024

  Cited by 6

• 2024

  Remote telepresence over large distances via robot avatars: case studies

  M Elobaid, S Dafarra, E Ranjbari, G Romualdi, T Chaki, T Kawakami, ... · 2024 IEEE Conference on Telepresence, 183-187, 2024

  Cited by 2

• 2024

  Online Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

  M Elobaid, G Turrisi, L Rapetti, G Romualdi, S Dafarra, T Kawakami, ... · arXiv e-prints, arXiv: 2409.01144, 2024

• 2024

  iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots

  S Dafarra, U Pattacini, G Romualdi, L Rapetti, R Grieco, K Darvish, ... · Science Robotics 9 (86), eadh3834, 2024

• 2023

  Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

  M Elobaid, G Romualdi, G Nava, L Rapetti, HAO Mohamed, D Pucci · 2023 IEEE International Conference on Robotics and Automation (ICRA), 12233 …, 2023

  Cited by 20

• 2022

  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 · 2022 International Conference on Robotics and Automation (ICRA), 2022

  Cited by 95

• 2022

  Dynamic complementarity conditions and whole-body trajectory optimization for humanoid robot locomotion

  S Dafarra, G Romualdi, D Pucci · IEEE Transactions on Robotics 38 (6), 3414-3433, 2022

  Cited by 38

• 2022

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

  PM Viceconte, R Camoriano, G Romualdi, D Ferigo, S Dafarra, ... · IEEE Robotics and Automation Letters 7 (2), 2779-2786, 2022

  Cited by 33

• 2022

  Whole-Body Trajectory Optimization for Robot Multimodal Locomotion

  G L'Erario, G Nava, G Romualdi, F Bergonti, V Razza, S Dafarra, D Pucci · 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids …, 2022

  Cited by 13

• 2022

  Whole-body control and estimation of humanoid robots with link flexibility

  G Romualdi, NA Villa, S Dafarra, D Pucci, O Stasse · 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids …, 2022

  Cited by 9

• 2022

  Online Control of Humanoid Robot Locomotion

  G Romualdi · Università degli studi di Genova, 2022

  Cited by 4

• 2022

  Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet

  P Ramadoss, G Romualdi, S Dafarra, S Traversaro, D Pucci · 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022

• 2022

  iCub3 avatar system

  S Dafarra, K Darvish, R Grieco, G Milani, U Pattacini, L Rapetti, ... · arXiv preprint arXiv:2203.06972 3, 2022

• 2021

  DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups

  P Ramadoss, G Romualdi, S Dafarra, FJA Chavez, S Traversaro, D Pucci · 2021 IEEE International Conference on Robotics and Automation (ICRA), 2904-2910, 2021

  Cited by 21

• 2021

  Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control

  G Romualdi, S Dafarra, D Pucci · IEEE Robotics and Automation Letters 6 (3), 4289-4296, 2021

  Cited by 12

• 2020

  Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach

  S Dafarra, G Romualdi, G Metta, D Pucci · 2020 IEEE International Conference on Robotics and Automation (ICRA), 1511-1517, 2020

  Cited by 10

• 2020

  Non-linear DCM trajectory optimization with variable center of mass height

  G Romualdi, S Dafarra, G L’Erario, D Pucci · Proc. IRIM, 129-130, 2020

  Cited by 1

• 2019

  Whole-Body Geometric Retargeting for Humanoid Robots

  K Darvish, Y Tirupachuri, G Romualdi, L Rapetti, D Ferigo, FJA Chavez, ... · 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids …, 2019

  Cited by 85

• 2019

  Telexistence and teleoperation for walking humanoid robots

  M Elobaid, Y Hu, G Romualdi, S Dafarra, J Babic, D Pucci · Proceedings of SAI Intelligent Systems Conference, 1106-1121, 2019

  Cited by 44

• 2019

  Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots

  M Shafiee, G Romualdi, S Dafarra, FJA Chavez, D Pucci · 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids …, 2019

  Cited by 35

• 2019

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

  G Romualdi, S Dafarra, Y Hu, P Ramadoss, FJA Chavez, S Traversaro, ... · International Journal of Humanoid Robotics, 2019

  Cited by 28

• 2018

  A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots

  G Romualdi, S Dafarra, Y Hu, D Pucci · 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1-9, 2018

  Cited by 41

• 2018

  Capture-Point Based Controllers for Robot Bipedal Locomotion: Analysis and Implementation on the iCub Platform.

  G ROMUALDI ·

• Online Trajectory Generation for Step Recovery in Bipedal Robot Locomotion

  M Shafiee, FJA Chavez, G Romualdi, S Dafarra, D Pucci ·

• Toward Common Metrics for Humanoid Robot Telexistence Evaluation

  K Darvish, G Romualdi, Y Tirupachuri, D Pucci · hand 13 (14), 15, 0

Full list on Google Scholar