Federico L. Moro

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—Research on humanoid locomotion made significant improvements over the last years. In most cases, though, the gait of state-of-the-art robots is still far from being human-like due to two main reasons. These are, the mechanical incompatibilities between the human and the engineered humanoid platforms, and the lack of clear understanding of the highly(More)
Research in humanoid robotics aims to develop autonomous systems that are able to assist humans in the performance of everyday tasks. Part of the robotics community claims that the best solution to guarantee the maximum adaptability of robots to the majority of human tasks is mimicry. Based on this premise both the structure of the human body and human(More)
Human neuromotor capabilities guarantee a wide variety of motions. A full understanding of human motion can be beneficial for rehabilitation or performance enhancement purposes, or for its reproduction on artificial systems like robots. This work aims at describing the complexity of human motion in a reduced dimensionality, by means of kinematic Motion(More)
— This paper presents a novel whole-body torque-control concept for humanoid walking robots. The presented Whole-Body Motion Control (WBMC) system combines several unique concepts. First, a computationally efficient gravity compensation algorithm for floating-base systems is derived. Second, a novel balancing approach is proposed, which exploits a set of(More)
—Research in humanoid robotics in recent years has led to significant advances in terms of the ability to walk and even run. Yet, despite the general achievements in locomotion and control, energy efficiency is still one important area that requires further attention, especially as it is one of the major steeping stones leading to increased autonomy. This(More)
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