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Giulio Turrisi
Giulio Turrisi
Researcher at the Dynamic Legged Systems Lab, Istituto Italiano di Tecnologia
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An online learning procedure for feedback linearization control without torque measurements
M Capotondi, G Turrisi, C Gaz, V Modugno, G Oriolo, A De Luca
Conference on Robot Learning, 1359-1368, 2019
162019
On-line learning for planning and control of underactuated robots with uncertain dynamics
G Turrisi, M Capotondi, C Gaz, V Modugno, G Oriolo, A De Luca
IEEE Robotics and Automation Letters 7 (1), 358-365, 2021
82021
Enforcing constraints over learned policies via nonlinear MPC: Application to the pendubot
G Turrisi, BB Carlos, M Cefalo, V Modugno, L Lanari, G Oriolo
IFAC-PapersOnLine 53 (2), 9502-9507, 2020
72020
Morphological symmetries in robotics
D Ordoñez-Apraez, G Turrisi, V Kostic, M Martin, A Agudo, ...
arXiv preprint arXiv:2402.15552, 2024
12024
Dynamics harmonic analysis of robotic systems: Application in data-driven koopman modelling
D Ordoñez-Apraez, V Kostic, G Turrisi, P Novelli, C Mastalli, C Semini, ...
Conference on Learning for Dynamics and Control, 2024
12024
Fast convex visual foothold adaptation for quadrupedal locomotion
S Omar, L Amatucci, G Turrisi, V Barasuol, C Semini
2022 I-RIM Conference, 143-146, 2022
12022
Learning feedback linearization control without torque measurements
M Capotondi, G Turrisi, C Gaz, V Modugno, G Oriolo, A De Luca
2020 I-RIM Conference, 131-134, 2020
12020
PACC: A passive-arm approach for high-payload collaborative carrying with quadruped robots using model predictive control
G Turrisi, L Schulze, VS Medeiros, C Semini, V Barasuol
arXiv preprint arXiv:2403.19862, 2024
2024
Leveraging symmetry in RL-based legged locomotion control
Z Su, X Huang, D Ordoñez-Apraez, Y Li, Z Li, Q Liao, G Turrisi, M Pontil, ...
arXiv preprint arXiv:2403.17320, 2024
2024
On the benefits of gpu sample-based stochastic predictive controllers for legged locomotion
G Turrisi, V Modugno, L Amatucci, D Kanoulas, C Semini
arXiv preprint arXiv:2403.11383, 2024
2024
Accelerating model predictive control for legged robots through distributed optimization
L Amatucci, G Turrisi, A Bratta, V Barasuol, C Semini
arXiv preprint arXiv:2403.11742, 2024
2024
SafeSteps: Learning safer footstep planning policies for legged robots via model-based priors
S Omar, L Amatucci, V Barasuol, G Turrisi, C Semini
2023 IEEE-RAS International Conference on Humanoid Robots, 1-8, 2023
2023
Quadrupedal footstep planning using learned motion models of a black-box controller
I Taouil, G Turrisi, D Schleich, V Barasuol, C Semini, S Behnke
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023
2023
Learning-based methods for robotic control
G Turrisi, G Oriolo
Sapienza, University of Rome, 2022
2022
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Artikelen 1–14