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Silvio Traversaro

28 accepted papers

2026

Contact-Aware Morphology Optimization via Physically Consistent Differentiable Simulation

Filippo Luca Ferretti, Diego Ferigo, Alessandro Croci, Carlotta Sartore, Omar G. Younis, Silvio Traversaro +1
RA-L 2026

Optimizing robot morphology and behavior remains an open challenge, primarily because hardware parameters affect system and contact dynamics, and naive parametrization can yield physically inconsistent designs and unreliable gradients. We propose a simulation-based co-design approach for gradient-ba

Cited by 0Source ↗Scholar ↗
2025

Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking

Akhil Sathuluri, Carlotta Sartore, Stefano Dafarra, Silvio Traversaro, Markus Zimmermann, Daniele Pucci
RA-L 2025

Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots. However, classical optimisation methods result in point-optimum solutions that may not ensure robust performance and physical feasibility, i.e., the existence of components with spe

Cited by 1Source ↗Scholar ↗
2025

Multi-Objective Optimization of Humanoid Robot Hardware and Control for Multiple Tasks via Genetic Algorithms

Carlotta Sartore, Silvio Traversaro, Daniele Pucci
IROS 2025

The optimization of hardware and control of humanoid robots for multiple tasks is still an open challenge due to the competing objectives of different behaviors and the complexity of considering control architectures at the design level of a humanoid robot. In this work, we propose a unified multi-o

Cited by 0Source ↗Scholar ↗
2025

Physics-Informed Neural Networks With Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots

Ines Sorrentino, Giulio Romualdi, Lorenzo Moretti, Silvio Traversaro, Daniele Pucci
RA-L 2025

This paper presents a novel framework for whole-body torque control of humanoid robots without joint torque sensors, designed for systems with electric motors and high-ratio harmonic drives. The approach integrates Physics-Informed Neural Networks (PINNs) for friction modeling and Unscented Kalman F

Cited by 6Source ↗Scholar ↗
2025

ROS2WASM: Bringing the Robot Operating System to the Web

Tobias Fischer, Isabel Paredes, Michael Batchelor, Thorsten Beier, Jesse Haviland, Silvio Traversaro +3
ICRA 2025

The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboStack distribution, a conda-based packaging system for ROS, has extended ROS's accessibility by facilitating installation

Cited by 1Source ↗Scholar ↗
2024

XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration

Carlos Cardenas-Perez, Giulio Romualdi, Mohamed Elobaid, Stefano Dafarra, Giuseppe L'Erario, Silvio Traversaro +3
RA-L 2024

This letter presents XBG (eXteroceptive Behaviour Generation), a multimodal end-to-end Imitation Learning (IL) system for whole-body autonomous humanoid robots used in real-world Human-Robot Interaction (HRI) scenarios. The main contribution is an architecture for learning HRI behaviours using a dat

Cited by 6Source ↗code ↗Scholar ↗
2022

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

Paolo Maria Viceconte, Raffaello Camoriano, Giulio Romualdi, Diego Ferigo, Stefano Dafarra, Silvio Traversaro +3
RA-L 2022

<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Human-like</i> trajectory generation and footstep planning represent challenging problems in humanoid robotics. Recently, research in computer graphics investigated machine-learning methods for characte

Cited by 22Source ↗Scholar ↗
2022

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

Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Silvio Traversaro, Daniele Pucci
IROS 2022poster

Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-orientation and its linear velocity along with the a…

Cited by 0Source ↗Scholar ↗
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 ↗
2022

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

Giulio Romualdi, Stefano Dafarra, Giuseppe L'Erario, Ines Sorrentino, Silvio Traversaro, Daniele Pucci
ICRA 2022poster

This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact forces and torques and contact locations. Differently from biped…

Cited by 58Source ↗code ↗Scholar ↗
2021

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

Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci
ICRA 2021poster

This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful estimator which is characterized by concentrated G…

Cited by 14Source ↗Scholar ↗
2021

In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects

Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo +5
ICRA 2021poster

Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in the robot’s global coordinate system. For laser profile scann…

Cited by 8Source ↗Scholar ↗
2021

On the Emergence of Whole-Body Strategies From Humanoid Robot Push-Recovery Learning

Diego Ferigo, Raffaello Camoriano, Paolo Maria Viceconte, Daniele Calandriello, Silvio Traversaro, Lorenzo Rosasco +1
RA-L 2021

Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on simplified physical models and hard-coded strategies. Although successful in specific scenarios, this approach requires de

Cited by 22Source ↗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

Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci
ICRA 2019poster

It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an experiment is long or the environmental conditions are different fr…

Cited by 17Source ↗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 ↗
2018

A Plenum-Based Calibration Device for Tactile Sensor Arrays

Joan Kangro, Anand Vazhapilli Sureshbabu, Silvio Traversaro, Daniele Pucci, Francesco Nori
RA-L 2018

In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining the force applied on the skin provides many additional possi

Cited by 6Source ↗Scholar ↗
2018

Contact Force and Joint Torque Estimation Using Skin

Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci
RA-L 2018

In this letter, we present algorithms to estimate contact locations, external forces, and joint torques using skin, i.e., distributed tactile sensors, kinematic sensors, and a single Inertial Measurement Unit (IMU) without the need for force-torque sensors. Distributed tactile sensors are an array o

Cited by 11Source ↗Scholar ↗
2018

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction

Francesco Romano, Gabriele Nava, Morteza Azad, Jernej Camernik, Stefano Dafarra, Oriane Dermy +12
RA-L 2018

The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Reg

Cited by 32Source ↗Scholar ↗
2017

Control of humanoid robot motions with impacts: Numerical experiments with reference spreading control

Mark Rijnen, Eric de Mooij, Silvio Traversaro, Francesco Nori, Nathan van de Wouw, Alessandro Saccon +1
ICRA 2017poster

This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing a dyna…

Cited by 41Source ↗Scholar ↗
2017

On Centroidal Dynamics and Integrability of Average Angular Velocity

Alessandro Saccon, Silvio Traversaro, Francesco Nori, Henk Nijmeijer
RA-L 2017

In the literature on robotics and multibody dynamics, the concept of average angular velocity has received considerable attention in recent years. We address the question of whether the average angular velocity defines an orientation frame that depends only on the current robot configuration and pro

Cited by 25Source ↗Scholar ↗
2016

Identification of fully physical consistent inertial parameters using optimization on manifolds

Silvio Traversaro, Stanislas Brossette, Adrien Escande, Francesco Nori
IROS 2016poster

This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the triangular inequality of 3D inertia matrices as opposed to existin…

Cited by 83Source ↗Scholar ↗
2016

Incremental semiparametric inverse dynamics learning

Raffaello Camoriano, Silvio Traversaro, Lorenzo Rosasco, Giorgio Metta, Francesco Nori
ICRA 2016

This paper presents a novel approach for incremental semiparametric inverse dynamics learning. In particular, we consider the mixture of two approaches: Parametric modeling based on rigid body dynamics equations and nonparametric modeling based on incremental kernel methods, with no prior informatio

Cited by 51Source ↗Scholar ↗
2015

In situ calibration of six-axis force-torque sensors using accelerometer measurements

Silvio Traversaro, Daniele Pucci, Francesco Nori
ICRA 2015poster

This paper proposes techniques to calibrate six-axis force-torque sensors that can be performed in situ, i.e., without removing the sensor from the hosting system. We assume that the force-torque sensor is attached to a rigid body equipped with an accelerometer. Then, the proposed calibration techni…

Cited by 35Source ↗Scholar ↗
2015

Inertial parameters identification and joint torques estimation with proximal force/torque sensing

Silvio Traversaro, Andrea Del Prete, Serena Ivaldi, Francesco Nori
ICRA 2015poster

Classically robot force control passes through joint torques measurement or estimation. Within this context, classical torque sensing technologies rely on current sensing on motor windings and on torsion sensing on motor shaft. An alternative approach was recently proposed in [1] and combines whole-…

Cited by 20Source ↗Scholar ↗
2015

Simultaneous state and dynamics estimation in articulated structures

Francesco Nori, Naveen Kuppuswamy, Silvio Traversaro
IROS 2015poster

Given an articulated rigid body, we define the problem of estimating its dynamics as the problem of computing all the forces and accelerations acting on the bodies which constitute the articulated system. Similarly, we define the state estimation problem as the problem of computing the system positi…

Cited by 17Source ↗Scholar ↗