Federico L. Moro

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This paper presents a novel whole-body torquecontrol 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 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)
This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion(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)
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)
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)
The research presented in this manuscript aimed to: i) analyze human motion, introducing the kinematic Motion Primitives (kMPs), ii) propose an application of the kMPs to synthesize human-like walking trajectories for the COmpliant huMANoid COMAN. A Principal Component Analysis (PCA) was applied to the whole-body joint trajectories, that were derived from(More)
This paper presents a concurrent whole-body control (cWBC) for human-exoskeleton systems that are tightly coupled at a Cartesian level (e.g., feet, hands, torso). The exoskeleton generates joint torques that i) cancel the effects of gravity on the coupled system, ii) perform a primary task (e.g., maintaining the balance of the system), and iii) exploit the(More)