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Gianluca Garofalo
Gianluca Garofalo
Senior Scientist, ABB Corporate Research
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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
3312014
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
1162012
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
682013
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
592019
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
522019
On the inertially decoupled structure of the floating base robot dynamics
G Garofalo, B Henze, J Englsberger, C Ott
IFAC-PapersOnLine 48 (1), 322-327, 2015
412015
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
402016
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
282013
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
272014
Energy based limit cycle control of elastically actuated robots
G Garofalo, C Ott
IEEE Transactions on Automatic Control 62 (5), 2490-2497, 2016
262016
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
232017
Orbital stabilization of mechanical systems through semidefinite Lyapunov functions
G Garofalo, C Ott, A Albu-Schäffer
2013 American Control Conference, 5715-5721, 2013
212013
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
182017
Jumping control for compliantly actuated multilegged robots
D Lakatos, G Garofalo, A Dietrich, A Albu-Schaffer
2014 IEEE international conference on robotics and automation (ICRA), 4562-4568, 2014
172014
Task-space tracking control for underactuated aerial manipulators
G Garofalo, F Beck, C Ott
2018 European Control Conference (ECC), 628-634, 2018
162018
Adaptive passivity-based multi-task tracking control for robotic manipulators
G Garofalo, X Wu, C Ott
IEEE Robotics and Automation Letters 6 (4), 7129-7136, 2021
132021
Passive energy-based control via energy tanks and release valve for limit cycle and compliance control
G Garofalo, C Ott
IFAC-PapersOnLine 51 (22), 73-78, 2018
132018
Mptc-modular passive tracking controller for stack of tasks based control frameworks
J Englsberger, A Dietrich, GA Mesesan, G Garofalo, C Ott, ...
Robotics: Science and Systems (RSS 2020), 2020
122020
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
112018
Vibration control for manipulators on a translationally flexible base
F Beck, G Garofalo, C Ott
2019 International Conference on Robotics and Automation (ICRA), 4451-4457, 2019
102019
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