Stefano Dafarra

Post Doc

IIT Publications

  • 2020
  • Romualdi G.iit, Dafarra S.iit, Hu Y., Ramadoss P.iit, Chavez F.J.A.iit, Traversaro S.iit, Pucci D.iit
    DOI

    A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots

    International Journal of Humanoid Robotics, vol. 17, (no. 1)
  • Elobaid M.iit, Hu Y.iit, Romualdi G.iit, Dafarra S.iit, Babic J., Pucci D.iit
    DOI

    Telexistence and teleoperation for walking humanoid robots

    Advances in Intelligent Systems and Computing, vol. 1038, pp. 1106-1121
  • Dafarra S., Romualdi G.iit, Metta G., Pucci D.iit

    Whole-Body Walking Generation using Contact Parametrization: A Non-Linear Trajectory Optimization Approach

    IEEE International Conference on Robotics and Automation 2020 (ICRA)
  • 2019
  • Romualdi G.iit, Dafarra S.iit, Hu Y.iit, Pucci D.iit
    DOI

    A Benchmarking of DCM Based Architectures for Position and Velocity Controlled Walking of Humanoid Robots

    IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, pp. 966-973
  • Romualdi G.iit, Dafarra S.iit, Hu Y., Pucci D.iit

    A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots

    ICRA 2019- IEEE International Conference on Robotics and Automation
  • Shafiee M.iit, Romualdi G.iit, Dafarra S.iit, Chavez F.J.A.iit, Pucci D.iit
    DOI

    Online dcm trajectory generation for push recovery of torque-controlled humanoid robots

    IEEE-RAS International Conference on Humanoid Robots, vol. 2019-October, pp. 671-678
  • Shafiee M.iit, Romualdi G.iit, Dafarra S.iit, Andrade-Chavez F. J., Pucci D.iit

    Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots

    IEEE-RAS International Conference on Humanoid Robots
  • Shafiee M.iit, Romualdi G.iit, Dafarra S.iit, Andrade-Chavez F. J., Pucci D.iit

    Online Trajectory Generation for Step Recovery in Bipedal Robot Locomotion

    Italian Institute of Robotics and Intelligent Machines Conference
  • 2018
  • Dafarra S.iit, Nava G.iit, Charbonneau M.iit, Guedelha N.iit, Andradel F.iit, Traversaro S.iit, Fiorio L.iit, Romano F., Nori F., Metta G.iit, Pucci D.iit
    DOI

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

    IEEE International Conference on Intelligent Robots and Systems, pp. 8559-8566
  • Dafarra S.iit, Nava G.iit, Charbonneau M.iit, Guedelha N.iit, Andrade Chavez F. J.iit, Traversaro S.iit, Fiorio L.iit, Romano F., Nori F., Metta G.iit, Pucci D.iit

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

    IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Dafarra S.iit, Romano F.iit, Nori F.iit
    DOI

    A receding horizon push recovery strategy for balancing the iCub humanoid robot

    Mechanisms and Machine Science, vol. 49, pp. 297-305
  • Romano F.iit, Nava G.iit, Azad M., Camernik J., Dafarra S.iit, Dermy O., Latella C.iit, Lazzaroni M.iit, Lober R., Lorenzini M.iit, Pucci D.iit, Sigaud O., Traversaro S.iit, Babic J., Ivaldi S., Mistry M., Padois V., Nori F.iit
    DOI

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

    IEEE Robotics and Automation Letters, vol. 3, (no. 1), pp. 516-523
  • 2017
  • Nava G.iit, Pucci D.iit, Guedelha N.iit, Traversaro S.iit, Romano F.iit, Dafarra S.iit, Nori F.iit
    DOI

    Modeling and control of humanoid robots in dynamic environments: ICub balancing on a seesaw

    IEEE-RAS International Conference on Humanoid Robots, pp. 263-270
  • 2016
  • Dafarra S.iit, Romano F.iit, Nori F.iit

    Receding horizon applied to capture point based push recovery

    IEEE/RAS International Conference of Humanoid Robotics, pp. 2
  • Dafarra S.iit, Romano F.iit, Nori F.iit
    DOI

    Torque-controlled stepping-strategy push recovery: Design and implementation on the iCub humanoid robot

    IEEE-RAS International Conference on Humanoid Robots, pp. 152-157