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Antonello Paolino

4 accepted papers

2026

Robust by Co-Design: CAD-to-Control Evolutionary Optimization of Jet-Powered Humanoids

Punith Reddy Vanteddu, Davide Gorbani, Antonello Paolino, Giuseppe L'Erario, Hosameldin Awadalla Omer Mohamed, Fabio Bergonti +1
RA-L 2026

This letter presents a co-design and optimization framework for improving robustness in an aerial humanoid equipped with variable turbine configurations. The approach integrates CAD-based modeling, domain randomization, and multi-objective evolutionary optimization to jointly explore turbine placeme

Cited by 0Source ↗Scholar ↗
2024

Co-Design Optimisation of Morphing Topology and Control of Winged Drones

Fabio Bergonti, Gabriele Nava, Valentin Wüest, Antonello Paolino, Giuseppe L’Erario, Daniele Pucci +1
ICRA 2024poster

The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient solution. However, morphing drones require the addition of actua…

Cited by 14Source ↗code ↗Scholar ↗
2024

From CAD to URDF: Co-Design of a Jet-Powered Humanoid Robot Including CAD Geometry

Punith Reddy Vanteddu, Gabriele Nava, Fabio Bergonti, Giuseppe L’Erario, Antonello Paolino, Daniele Pucci
IROS 2024poster

Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details essential for prototyping the optimized mechanical design. For insta…

Cited by 0Source ↗Scholar ↗
2022

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots

Tong Hui, Antonello Paolino, Gabriele Nava, Giuseppe L'Erario, Fabio Di Natale, Fabio Bergonti +2
ICRA 2022poster

This paper presents a modeling and control frame-work for multibody flying robots subject to non-negligible aero-dynamic forces acting on the centroidal dynamics. First, aero-dynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics…

Cited by 7Source ↗Scholar ↗