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Scientific papers

Whole-Body Human Inverse Dynamics
IIT

Whole-Body Human Inverse Dynamics

We present experimental analysis on subjects performing a bowing task, and we estimate the motion and kinetics quantities.

iCub whole-body control
IIT

iCub whole-body control

This paper details the implementation of state-of-the-art whole-body control algorithms on the humanoid robot iCub. 

Computationally optimized dynamic computation
IIT

Computationally optimized dynamic computation

This paper describes an algorithm to perform dynamic computations . The method is computationally optimised with a sparse matrix factorisation.

Roadmap of the AnDy project
ALL

Roadmap of the AnDy project

This paper presents the goals and steps of the AnDy project, which leverages existing technologies to endow robots with the ability to control physical collaboration through intentional interaction.

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EUAn.Dy has received funding from the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement No. 731540