Publications by Luca Colasanto

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Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...

Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...

The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

Luca Colasanto

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Accelerated Sensorimotor Learning of Compliant Movement Primitives

Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot