DC Field
Value
Language
dc.contributor.author
Simi, Riccardo K.
-
dc.contributor.author
Zambella, Grazia
-
dc.contributor.author
Egle, Tobias
-
dc.contributor.author
Bicchi, Antonio
-
dc.contributor.author
Ott, Christian
-
dc.contributor.editor
Choi, Hyunjin
-
dc.date.accessioned
2026-01-07T09:37:50Z
-
dc.date.available
2026-01-07T09:37:50Z
-
dc.date.issued
2025
-
dc.identifier.citation
<div class="csl-bib-body"> <div class="csl-entry">Simi, R. K., Zambella, G., Egle, T., Bicchi, A., &#38; Ott, C. (2025). Extending humanoids DCM-based walking to push heavy objects while walking. In H. Choi (Ed.), <i>14th IFAC Symposium on Robotics ROBOTICS 2025 : Proceedings</i> (pp. 409–414). https://doi.org/10.1016/j.ifacol.2025.10.255</div> </div>
-
dc.identifier.uri
http://hdl.handle.net/20.500.12708/223639
-
dc.description.abstract
Pushing large and heavy objects while walking is an important skill for humanoid robots to effectively assist humans with daily tasks. However, friction, high interaction forces, and the robot’s intrinsic limitations make performing this task challenging. This paper presents a DCM-based walking planning algorithm designed to account for the external forces the robot must exert while pushing a heavy object along a desired trajectory. The proposed algorithm is then combined with an inverse dynamics whole-body control to allow the humanoid robot to perform the task. Results obtained in simulation on the humanoid BRUCE prove the effectiveness of the proposed framework.
en
dc.language.iso
en
-
dc.rights.uri
https://creativecommons.org/licenses/by-nc-nd/4.0/
-
dc.subject
Humanoid Robots
en
dc.subject
Humanoids Bipedal locomotion
en
dc.subject
Whole-body motion planning
en
dc.subject
control
en
dc.subject
Pushing
en
dc.subject
Divergent component of motion (DCM)
en
dc.subject
Loco-manipulation
en
dc.title
Extending humanoids DCM-based walking to push heavy objects while walking
en
dc.type
Inproceedings
en
dc.type
Konferenzbeitrag
de
dc.rights.license
Creative Commons Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International
de
dc.rights.license
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
en
dc.contributor.affiliation
University of Pisa, Italy
-
dc.contributor.affiliation
University of Pisa, Italy
-
dc.contributor.editoraffiliation
Sangmyung University, Korea (the Republic of)
-
dc.relation.issn
2405-8963
-
dc.description.startpage
409
-
dc.description.endpage
414
-
dc.rights.holder
© 2025 The Authors
-
dc.type.category
Full-Paper Contribution
-
tuw.booktitle
14th IFAC Symposium on Robotics ROBOTICS 2025 : Proceedings
-
tuw.container.volume
59
-
tuw.researchTopic.id
I3
-
tuw.researchTopic.name
Automation and Robotics
-
tuw.researchTopic.value
100
-
tuw.publication.orgunit
E376-03 - Forschungsbereich Robotersysteme
-
tuw.publisher.doi
10.1016/j.ifacol.2025.10.255
-
dc.identifier.libraryid
AC17743722
-
dc.description.numberOfPages
6
-
tuw.author.orcid
0009-0005-4156-6603
-
tuw.author.orcid
0000-0001-7546-9135
-
tuw.author.orcid
0000-0001-8635-5571
-
tuw.author.orcid
0000-0003-0987-7493
-
dc.rights.identifier
CC BY-NC-ND 4.0
de
dc.rights.identifier
CC BY-NC-ND 4.0
en
tuw.event.name
Joint 14th IFAC Symposium on Robotics 2025 & 10th IFAC Symposium on Mechatronic Systems
en
tuw.event.startdate
15-07-2025
-
tuw.event.enddate
18-07-2025
-
tuw.event.online
On Site
-
tuw.event.type
Event for scientific audience
-
tuw.event.place
Paris
-
tuw.event.country
FR
-
tuw.event.presenter
Simi, Riccardo K.
-
tuw.event.track
Multi Track
-
wb.sciencebranch
Elektrotechnik, Elektronik, Informationstechnik
-
wb.sciencebranch.oefos
2020
-
wb.sciencebranch.value
100
-
item.openairetype
conference paper
-
item.mimetype
application/pdf
-
item.grantfulltext
open
-
item.openaccessfulltext
Open Access
-
item.languageiso639-1
en
-
item.cerifentitytype
Publications
-
item.openairecristype
http://purl.org/coar/resource_type/c_5794
-
item.fulltext
with Fulltext
-
crisitem.author.dept
University of Pisa, Italy
-
crisitem.author.dept
E376-03 - Forschungsbereich Robotersysteme
-
crisitem.author.dept
E376-03 - Forschungsbereich Robotersysteme
-
crisitem.author.dept
University of Pisa, Italy
-
crisitem.author.dept
E376-03 - Forschungsbereich Robotersysteme
-
crisitem.author.orcid
0000-0001-7546-9135
-
crisitem.author.orcid
0000-0001-8635-5571
-
crisitem.author.orcid
0000-0003-0987-7493
-
crisitem.author.parentorg
E376 - Institut für Automatisierungs- und Regelungstechnik
-
crisitem.author.parentorg
E376 - Institut für Automatisierungs- und Regelungstechnik
-
crisitem.author.parentorg
E376 - Institut für Automatisierungs- und Regelungstechnik
-
Appears in Collections:
Conference Paper
Thumbnail
Fulltext (Version of Record (published version))
Adobe PDF
(1.11 MB)
Open Access CC BY-NC-ND 4.0
Show simple item record

Page view(s)

102
checked on Jan 8, 2026

Download(s)

60
checked on Jan 8, 2026

Google ScholarTM

Check