Gianluca Garofalo
Gianluca Garofalo
Postdoctoral Researcher, DLR German Aerospace Center
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Overview of the torque-controlled humanoid robot TORO
J Englsberger, A Werner, C Ott, B Henze, MA Roa, G Garofalo, R Burger, ...
2014 IEEE-RAS International Conference on Humanoid Robots, 916-923, 2014
1952014
Walking control of fully actuated robots based on the bipedal slip model
G Garofalo, C Ott, A Albu-Schäffer
2012 IEEE International Conference on Robotics and Automation, 1456-1463, 2012
832012
On the closed form computation of the dynamic matrices and their differentiations
G Garofalo, C Ott, A Albu-Schäffer
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2013
342013
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta
AM Giordano, G Garofalo, M De Stefano, C Ott, A Albu-Schäffer
2016 IEEE 55th Conference on Decision and Control (CDC), 7527-7534, 2016
222016
On the inertially decoupled structure of the floating base robot dynamics
G Garofalo, B Henze, J Englsberger, C Ott
8th Vienna International Conference on Mathematical Modelling (MATHMOD), 322-327, 2015
222015
Modal limit cycle control for variable stiffness actuated robots
D Lakatos, G Garofalo, F Petit, C Ott, A Albu-Schäffer
2013 IEEE International Conference on Robotics and Automation, 4934-4941, 2013
222013
Control applications of TORO—A torque controlled humanoid robot
B Henze, A Werner, MA Roa, G Garofalo, J Englsberger, C Ott
2014 IEEE-RAS International Conference on Humanoid Robots, 841-841, 2014
202014
Orbital stabilization of mechanical systems through semidefinite Lyapunov functions
G Garofalo, C Ott, A Albu-Schäffer
2013 American Control Conference, 5715-5721, 2013
172013
Energy based limit cycle control of elastically actuated robots
G Garofalo, C Ott
IEEE Transactions on Automatic Control 62 (5), 2490-2497, 2016
152016
Jumping control for compliantly actuated multilegged robots
D Lakatos, G Garofalo, A Dietrich, A Albu-Scha
2014 IEEE International Conference on Robotics and Automation (ICRA), 4562-4568, 2014
142014
Passivity-based control of underactuated biped robots within hybrid zero dynamics approach
H Sadeghian, C Ott, G Garofalo, G Cheng
2017 IEEE International Conference on Robotics and Automation (ICRA), 4096-4101, 2017
102017
On the regulation of the energy of elastic joint robots: excitation and damping of oscillations
G Garofalo, J Englsberger, C Ott
2015 American Control Conference (ACC), 4825-4831, 2015
82015
Dynamic walking on compliant and uneven terrain using dcm and passivity-based whole-body control
G Mesesan, J Englsberger, G Garofalo, C Ott, A Albu-Schäffer
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids …, 2019
72019
Momentum dumping for space robots
AM Giordano, G Garofalo, A Albu-Schaffer
2017 IEEE 56th Annual Conference on Decision and Control (CDC), 5243-5248, 2017
72017
Sliding mode momentum observers for estimation of external torques and joint acceleration
G Garofalo, N Mansfeld, J Jankowski, C Ott
2019 International Conference on Robotics and Automation (ICRA), 6117-6123, 2019
62019
Limit cycle control using energy function regulation with friction compensation
G Garofalo, C Ott
IEEE Robotics and Automation Letters 1 (1), 90-97, 2015
62015
Task-space tracking control for underactuated aerial manipulators
G Garofalo, F Beck, C Ott
2018 European Control Conference (ECC), 628-634, 2018
32018
Joint-space impedance control using intrinsic parameters of compliant actuators and inner sliding mode torque loop
G Garofalo, A Werner, F Loeffl, C Ott
IEEE control systems letters 3 (1), 1-6, 2018
22018
Walking control using adaptive oscillators combined with dynamic movement primitives
T Petric, L Zlajpah, G Garofalo, C Ott
22nd International Workshop on Robotics in Alpe-Adria-Danube Region, 2013
22013
On the Dynamics of Floating-base Robots: Linking the Recursive Formulation to the Reduced Euler-Lagrange Equations
H Mishra, G Garofalo, AM Giordano, C Ott
Robotics: Science and Systems (submitted), 2020
12020
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Artículos 1–20