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Luca Fiorio

10 accepted papers

2022

Momentum-Based Extended Kalman Filter for Thrust Estimation on Flying Multibody Robots

Hosameldin Awadalla Omer Mohamed, Gabriele Nava, Giuseppe L'Erario, Silvio Traversaro, Fabio Bergonti, Luca Fiorio +3
RA-L 2022

Effective control design of flying vehicles requires a reliable estimation of the propellers’ thrust forces to secure a successful flight. Direct measurements of thrust forces, however, are seldom available in practice and on-line thrust estimation usually follows from the application of fusion algo

Cited by 25Source ↗Scholar ↗
2021

Force Control With Friction Compensation In A Pneumatic Gripper

Rocco A. Romeo, Agata Zocco, Luca Fiorio, Daniele Pucci, M. Maggiali
IROS 2021poster

Robots can grasp, even manipulate, objects with different shape, weight and size thanks to the their end-effectors. These are mostly constituted by two fingers, and are known as grippers. However, despite being quite simple for human beings, manipulation is not so straightforward to carry out on rob…

Cited by 4Source ↗Scholar ↗
2020

Dynamic Control of a Rigid Pneumatic Gripper

Rocco Antonio Romeo, Luca Fiorio, Giuseppe L'Erario, Marco Maggiali, Giorgio Metta, Daniele Pucci
RA-L 2020

Pneumatic grippers are hugely employed in robotic applications. Nonetheless, their control is not easy due to difficulty in managing the pressure inside their air chambers. Pneumatic grippers have often simple structure though the lack of affordable control algorithms complicates their usage. Motiva

Cited by 8Source ↗Scholar ↗
2020

Modeling, Identification and Control of Model Jet Engines for Jet Powered Robotics

Giuseppe L'Erario, Luca Fiorio, Gabriele Nava, Fabio Bergonti, Hosameldin Awadalla Omer Mohamed, Emilio Benenati +2
RA-L 2020

The paper contributes towards the modeling, identification, and control of model jet engines. We propose a nonlinear, second order model in order to capture the model jet engines governing dynamics. The model structure is identified by applying sparse identification of nonlinear dynamics, and then t

Cited by 25Source ↗Scholar ↗
2019

Closed-loop Force Control of a Pneumatic Gripper Actuated by Two Pressure Regulators

Rocco A. Romeo, Luca Fiorio, Edwin J. Avila-Mireles, Ferdinando Cannella, Giorgio Metta, Daniele Pucci
IROS 2019poster

Robotic arms can perform grasping actions thanks to their “dexteorus” part, i.e. the gripper. Among the various categories, nowadays pneumatic grippers became the most employed in industry, as they have low cost and little bulkiness. Despite their simplicity, controlling the force applied by these g…

Cited by 6Source ↗Scholar ↗
2019

Torque and velocity controllers to perform jumps with a humanoid robot: theory and implementation on the iCub robot

Fabio Bergonti, Luca Fiorio, Daniele Pucci
ICRA 2019poster

Jumping can be an effective way of locomotion to overcome small terrain gaps or obstacles. In this paper we propose two different approaches to perform jumps with a humanoid robot. Specifically, starting from a pre-defined CoM trajectory we develop the theory for a velocity controller and for a torq…

Cited by 5Source ↗Scholar ↗
2018

A Control Architecture with Online Predictive Planning for Position and Torque Controlled Walking of Humanoid Robots

Stefano Dafarra, Gabriele Nava, Marie Charbonneau, Nuno Guedelha, Francisco Andrade, Silvio Traversaro +5
IROS 2018poster

A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot kinematic model to plan the footstep positions. In the mid laye…

Cited by 20Source ↗Scholar ↗
2017

A parallel kinematic mechanism for the torso of a humanoid robot: Design, construction and validation

Luca Fiorio, Alessandro Scalzo, Lorenzo Natale, Giorgio Metta, Alberto Parmiggiani
IROS 2017poster

The torso of a humanoid robot is a fundamental part of its kinematic structure because it defines the reachable workspace, supports the entire upper-body and can be used to control the position of the center of mass. The majority of the torso joints are designed exploiting serial or differential mec…

Cited by 13Source ↗Scholar ↗
2017

The design and validation of the R1 personal humanoid

Alberto Parmiggiani, Luca Fiorio, Alessandro Scalzo, Anand Vazhapilli Sureshbabu, Marco Randazzo, Marco Maggiali +10
IROS 2017poster

In recent years the robotics field has witnessed an interesting new trend. Several companies started the production of service robots whose aim is to cooperate with humans. The robots developed so far are either rather expensive or unsuitable for manipulation tasks. This article presents the result…

Cited by 50Source ↗Scholar ↗