Silvio Traversaro

Silvio Traversaro
Istituto Italiano di Tecnologia | IIT · Department of Robotics, Brain and Cognitive Sciences

Doctor of Philosophy in Robotics

About

83
Publications
13,630
Reads
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832
Citations
Citations since 2016
73 Research Items
798 Citations
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2016201720182019202020212022020406080100120140
2016201720182019202020212022020406080100120140

Publications

Publications (83)
Preprint
Full-text available
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink funct...
Chapter
Full-text available
The current state of the art in cognitive robotics, covering the challenges of building AI-powered intelligent robots inspired by natural cognitive systems. A novel approach to building AI-powered intelligent robots takes inspiration from the way natural cognitive systems—in humans, animals, and biological systems—develop intelligence by exploiting...
Preprint
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 augmented states of feet position-and-orientation,...
Preprint
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model-based whole-body kinematics estimation algorithm using wearable distributed inertial and force-torque sensing. This is done by extending the existing dynamical optimizat...
Preprint
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state estimation. Contrary to the case of fixed based manipulators with prismatic or rotary joints, the state space of mo...
Preprint
We present an avatar system that enables a human operator to visit a remote location via iCub3, a new humanoid robot developed at the Italian Institute of Technology (IIT) paving the way for the next generation of the iCub platforms. On the one hand, we present the humanoid iCub3 that plays the role of the robotic avatar. Particular attention is pa...
Article
Full-text available
Human-like trajectory generation and footstep planning represent challenging problems in humanoid robotics. Recently, research in computer graphics investigated machine-learning methods for character animation based on training human-like models directly on motion capture data. Such methods proved effective in virtual environments, mainly focusing...
Article
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state estimation. Contrary to the case of fixed based manipulators with prismatic or revolute joints, the state space of...
Article
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 algorithms that process on-board sensor data. This let...
Article
Full-text available
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 demanding tuning of parameters and switching logic b...
Article
Full-text available
Improving the quality of work for human beings is receiving a lot of attention from multiple research communities. In particular, digital transformation in human factors and ergonomics is going to empower the next generation of the socio-technical workforce. The use of wearable sensors, collaborative robots, and exoskeletons, coupled with novel tec...
Preprint
Full-text available
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 Gaussian distributions. The configuration of a floa...
Preprint
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 demanding tuning of parameters and switching logic b...
Preprint
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 possibilities. This additional feature usually requires...
Preprint
Full-text available
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 scanners this is a challenging procedure, as they provi...
Conference Paper
Full-text available
The paper introduce a robotics software control architecture suitable for the development of complete robotic industrial applications. The architecture fuse the state-of-the-art software technologies in a single standalone platform to provide an easy integration between all the software components necessary to control a robotic application, i.e. PL...
Chapter
The Functional Mock-up Interface (FMI) is a widely used industry standard for exchange and co-simulation of dynamic models as Functional Mock-up Units (FMU). It is supported by more than 100 modeling and simulation tools. In this chapter, we present two implementations of FMI that bridge the gap between these tools and the ROS and Gazebo community:...
Article
Full-text available
The article presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the article is twofold. First, we introduce an open-source actor-oriented framewor...
Article
Full-text available
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 the parameters of the model are found via gray-box...
Article
Full-text available
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor’s spatial resolution is about 4 taxels/cm 2 in order to have an accurate reconstruction of the contact pressure distribution. As a consequen...
Chapter
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these objects are passive, a robot has to interact with them to infer all the articulation models to understand the...
Chapter
The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torques are mapped to the output joint torques through a coupling matrix, such that the motor torque and friction parameters appear entangled from the point of view of the joi...
Article
Full-text available
A crucial part of dynamic motions is the interaction with other objects or the environment. Floating base robots have yet to perform these motions repeatably and reliably. Force torque sensors are able to provide the full description of a contact. Despite that, their use beyond a simple threshold logic is not widespread in floating base robots. For...
Article
Full-text available
This paper contributes toward the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body quadratic programming (QP) control layer. While the first two...
Preprint
Full-text available
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motion (DCM) and composed of three main layers: trajectory optimization, simplified model control, and whole-body QP control layer. While the first two layers use simplified r...
Preprint
In this paper we present Gym-Ignition, a new framework to create reproducible robotic environments for reinforcement learning research. It interfaces with the new generation of Gazebo, part of the Ignition Robotics suite. The new Ignition Gazebo simulator mainly provides three improvements for reinforcement learning applications compared to the alt...
Preprint
The paper presents a novel sensorized skin insole based on tactile capacitive technology. The insole prototype provides information such as pressure distribution, contact force and moments, center of pressure. These variables require an accurate calibration procedure to retrieve the relationship between the measured capacitance and the correspondin...
Preprint
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 the parameters of the model are found via gray-box...
Article
Full-text available
Physical human–robot interaction is receiving a growing attention from the scientific community. One of the main challenges is to understand the principles governing the mutual behaviour during collaborative interactions between humans. In this context, the knowledge of human whole-body motion and forces plays a pivotal role. Current state of the a...
Article
Full-text available
The paper presents a stochastic methodology for the simultaneous floating-base estimation of the human whole-body kinematics and dynamics (i.e., joint torques, internal and external forces). The paper builds upon our former work where a fixed-base formulation had been developed for the human estimation problem. The presented approach is validated b...
Preprint
The estimation of the motor torque and friction parameters are crucial for implementing an efficient low level joint torque control. In a set of coupled joints, the actuators torques are mapped to the output joint torques through a coupling matrix, such that the motor torque and friction parameters appear entangled from the point of view of the joi...
Preprint
The paper presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the paper is twofold. First, we introduce an open-source actor-oriented framework th...
Article
The software development cycle in the robotic research environment is hectic and heavily driven by project or paper deadlines. Developers have only little time available for packaging the C/C++ code they write, develop and maintain the build system and continuous integration tools. Research projects are joint efforts of different groups working rem...
Article
This paper discusses online algorithms for inverse dynamics modeling in robotics. Several model classes, including rigid body dynamics models, data-driven models and semiparametric models (which are combination of the previous two classes), are placed in a common framework. While model classes used in the literature typically exploit joint velociti...
Preprint
Full-text available
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 from when the calibration of the sensor was performe...
Preprint
Full-text available
This paper discusses online algorithms for inverse dynamics modelling in robotics. Several model classes including rigid body dynamics (RBD) models, data-driven models and semiparametric models (which are a combination of the previous two classes) are placed in a common framework. While model classes used in the literature typically exploit joint v...
Preprint
Full-text available
Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these objects are passive, a robot has to interact with them to infer all the articulation models to understand the...
Article
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 possibilities. This additional feature usually requires...
Preprint
Full-text available
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 layer, a predictive controller generates a Center of M...
Conference Paper
Full-text available
The software development cycle in the robotic research environment is hectic and heavily driven by project or paper deadlines. Developers have only little time available for packaging the C/C++ code they write, develop and maintain the build system and continuous integration tools.Research projects are joint efforts of different groups working remo...
Article
Full-text available
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. Regarding the former, to properly manage interaction...
Article
Full-text available
In this paper, we present algorithms to estimate contact locations, external forces and joint torques using skin, i.e. distributed tactile sensors, kinematic sensors and a single IMU without the need for force-torque sensors. Distributed tactile sensors are an array of discrete tactile sensors (taxels) with gaps between them. To cope with the gaps,...
Article
Full-text available
Future applications involving humanoid robots may require physical interaction between the robot and a dynamic environment. In this case, classical balancing and walking controllers that neglect the environment dynamics may not be sufficient for achieving a stable robot behaviour. This paper presents a modeling and control framework for balancing h...
Conference Paper
The paper presents a proof of concept to calibrate iCub's skin using vacuum bags. The method's main idea consists in inserting the skin in a vacuum bag, and then decreasing the pressure in the bag to create a uniform pressure distribution on the skin surface. Acquisition and data processing of the bag pressure and sensors' measured capacitance allo...
Conference Paper
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law to be implemented. The main advantage of the proposed library is the decoupling of the control software from implementation details, which are related to the robotic plat...
Article
This paper takes the first step towards the development of a control framework for underactuated flying humanoid robots. We assume that the robot is powered by four thrust forces placed at the robot end effectors, namely the robot hands and feet. Then, the control objective is defined as the asymptotic stabilization of the robot centroidal momentum...
Article
Full-text available
This paper contributes towards the development of a unified standpoint on the equations of motion used for the control of free-floating mechanical systems. In particular, the contribution of the manuscript is twofold. First, we show how to write the system equations of motion for any choice of the base frame, without the need of re-applying algorit...
Article
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 framethat depends only on the current robot configuration and provide a simple algebraic condition to check whether...
Conference Paper
Full-text available
In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law to be implemented. The main advantage of the proposed library is the decoupling of the control software from implementation details, which are related to the robotic plat...