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Gianluca Garofalo

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2020 – today

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2024
[c22]
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Paolino De Risi, Fabio Amadio, Gianluca Garofalo, Fanny Ficuciello, Pietro Falco:
Variable Impedance Control Combining Reinforcement Learning and Gaussian Process Regression. Humanoids 2024: 343-350
[c21]
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Jelmer de Wolde, Luzia Knödler, Gianluca Garofalo, Javier Alonso-Mora:
Current-Based Impedance Control for Interacting with Mobile Manipulators. IROS 2024: 753-760
[i2]
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Gianluca Garofalo:
Compliant Hierarchical Control for Arbitrary Equality and Inequality Tasks with Strict and Soft Priorities. CoRR abs/2403.08491 (2024)
[i1]
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Jelmer de Wolde, Luzia Knödler, Gianluca Garofalo, Javier Alonso-Mora:
Current-Based Impedance Control for Interacting with Mobile Manipulators. CoRR abs/2403.13079 (2024)
2023
[j7]
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Hrishik Mishra, Gianluca Garofalo, Alessandro Massimo Giordano, Marco De Stefano, Christian Ott, Andreas Kugi:
Reduced Euler-Lagrange Equations of Floating-Base Robots: Computation, Properties, & Applications. IEEE Trans. Robotics 39(2): 1439-1457 (2023)
2022
[j6]
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Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich:
Adaptive Tracking Control With Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators. IEEE Robotics Autom. Lett. 7(4): 12307-12314 (2022)
2021
[j5]
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Gianluca Garofalo, Xuwei Wu, Christian Ott:
Adaptive Passivity-Based Multi-Task Tracking Control for Robotic Manipulators. IEEE Robotics Autom. Lett. 6(4): 7129-7136 (2021)
2020
[j4]
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Gianluca Garofalo, Christian Ott:
Hierarchical Tracking Control With Arbitrary Task Dimensions: Application to Trajectory Tracking on Submanifolds. IEEE Robotics Autom. Lett. 5(4): 6153-6160 (2020)
[c20]
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Gianluca Garofalo, George Mesesan:
A Smooth Uniting Controller for Robotic Manipulators: An Extension of the Adaptive Variance Algorithm (AVA). ACC 2020: 3224-3229
[c19]
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Gianluca Garofalo, Fabian Beck, Julian Klodmann, Christian Ott:
On the Control of Translationally Flexible Base Manipulators. ECC 2020: 867-874
[c18]
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  - conf/rss/EnglsbergerDMGO20
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Johannes Englsberger, Alexander Dietrich, George Mesesan, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
MPTC - Modular Passive Tracking Controller for stack of tasks based control frameworks. Robotics: Science and Systems 2020

2010 – 2019

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2019
[j3]
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Gianluca Garofalo, Alexander Werner, Florian Loeffl, Christian Ott:
Joint-Space Impedance Control Using Intrinsic Parameters of Compliant Actuators and Inner Sliding Mode Torque Loop. IEEE Control. Syst. Lett. 3(1): 1-6 (2019)
[c17]
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George Mesesan, Johannes Englsberger, Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Dynamic Walking on Compliant and Uneven Terrain using DCM and Passivity-based Whole-body Control. Humanoids 2019: 25-32
[c16]
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Fabian Beck, Gianluca Garofalo, Christian Ott:
Vibration Control for Manipulators on a Translationally Flexible Base. ICRA 2019: 4451-4457
[c15]
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Gianluca Garofalo, Nico Mansfeld, Julius Jankowski, Christian Ott:
Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration. ICRA 2019: 6117-6123
2018
[c14]
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Gianluca Garofalo, Fabian Beck, Christian Ott:
Task-space Tracking Control for Underactuated Aerial Manipulators. ECC 2018: 628-634
[c13]
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Gianluca Garofalo, Christian Ott:
Passive Energy-based Control via Energy Tanks and Release Valve for Limit Cycle and Compliance Control. SyRoCo 2018: 73-78
2017
[j2]
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Gianluca Garofalo, Christian Ott:
Energy Based Limit Cycle Control of Elastically Actuated Robots. IEEE Trans. Autom. Control. 62(5): 2490-2497 (2017)
[c12]
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Alessandro M. Giordano, Gianluca Garofalo, Alin Albu-Schäffer:
Momentum dumping for space robots. CDC 2017: 5243-5248
[c11]
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Gianluca Garofalo, Christian Ott:
Repetitive Jumping Control for Biped Robots via Force Distribution and Energy Regulation. HFR 2017: 29-45
[c10]
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  - conf/icra/SadeghianOGC17
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Hamid Sadeghian, Christian Ott, Gianluca Garofalo, Gordon Cheng:
Passivity-based control of underactuated biped robots within hybrid zero dynamics approach. ICRA 2017: 4096-4101
2016
[j1]
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Gianluca Garofalo, Christian Ott:
Limit Cycle Control Using Energy Function Regulation With Friction Compensation. IEEE Robotics Autom. Lett. 1(1): 90-97 (2016)
[c9]
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Alessandro M. Giordano, Gianluca Garofalo, Marco De Stefano, Christian Ott, Alin Albu-Schäffer:
Dynamics and control of a free-floating space robot in presence of nonzero linear and angular momenta. CDC 2016: 7527-7534
2015
[c8]
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Gianluca Garofalo, Johannes Englsberger, Christian Ott:
On the regulation of the energy of elastic joint robots: Excitation and damping of oscillations. ACC 2015: 4825-4831
2014
[c7]
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Bernd Henze, Alexander Werner, Máximo A. Roa, Gianluca Garofalo, Johannes Englsberger, Christian Ott:
Control applications of TORO - A Torque controlled humanoid robot. Humanoids 2014: 841
[c6]
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Johannes Englsberger, Alexander Werner, Christian Ott, Bernd Henze, Máximo A. Roa, Gianluca Garofalo, Robert Burger, Alexander Beyer, Oliver Eiberger, Korbinian Schmid, Alin Albu-Schäffer:
Overview of the torque-controlled humanoid robot TORO. Humanoids 2014: 916-923
[c5]
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  - conf/icra/LakatosGDA14
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Dominic Lakatos, Gianluca Garofalo, Alexander Dietrich, Alin Albu-Schäffer:
Jumping control for compliantly actuated multilegged robots. ICRA 2014: 4562-4568
2013
[c4]
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Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. ACC 2013: 5715-5721
[c3]
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Dominic Lakatos, Gianluca Garofalo, Florian Petit, Christian Ott, Alin Albu-Schäffer:
Modal limit cycle control for variable stiffness actuated robots. ICRA 2013: 4934-4941
[c2]
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Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
On the closed form computation of the dynamic matrices and their differentiations. IROS 2013: 2364-2359
2012
[c1]
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Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer:
Walking control of fully actuated robots based on the Bipedal SLIP model. ICRA 2012: 1456-1463

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