G
Gabriele Nava
Researcher at Istituto Italiano di Tecnologia
Publications - 42
Citations - 422
Gabriele Nava is an academic researcher from Istituto Italiano di Tecnologia. The author has contributed to research in topics: iCub & Humanoid robot. The author has an hindex of 8, co-authored 37 publications receiving 263 citations. Previous affiliations of Gabriele Nava include University of Genoa & Marche Polytechnic University.
Papers
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Proceedings ArticleDOI
Stability analysis and design of momentum-based controllers for humanoid robots
TL;DR: In this paper, a Lyapunov analysis on the linearized system's joint space is used to show that momentum-based control strategies may lead to unstable zero dynamics and propose simple modifications to the control architecture that avoid instabilities at the zero-dynamics level.
Journal ArticleDOI
Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators
TL;DR: Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected.
Proceedings ArticleDOI
Robust Real-Time Whole-Body Motion Retargeting from Human to Humanoid
L. Peneo,B. Clement,V. Moduano,E. Mingo Hoffman,Gabriele Nava,Daniele Pucci,Nikos G. Tsagarakis,J. B. Mourert,Serena Ivaldi +8 more
TL;DR: A retargeting framework that allows the robot to replicate the motion of the human operator, acquired by a wearable motion capture suit, while maintaining the whole-body balance, and introduces some dynamic filter in the retargeted to forbid dangerous motions that can make the robot fall.
Journal ArticleDOI
The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction
Francesco Romano,Gabriele Nava,Morteza Azad,Jernej Čamernik,Stefano Dafarra,Oriane Dermy,Claudia Latella,Maria Lazzaroni,Ryan Lober,Marta Lorenzini,Daniele Pucci,Olivier Sigaud,Silvio Traversaro,Jan Babič,Serena Ivaldi,Michael Mistry,Vincent Padois,Francesco Nori +17 more
TL;DR: This letter presents the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human–robot interaction scenario.
Proceedings ArticleDOI
Position and Attitude Control of an Underactuated Flying Humanoid Robot
TL;DR: The design of a control framework capable of tracking a desired robot position and orientation trajectory while flying is proposed and asymptotic stability of the closed loop system is shown by means of a Lyapunov analysis.