added all publications

content/publication/aerial-manip-ral/cite.bib

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+@ARTICLE{ral2020,
+  author={Nava, Gabriele and Sablé, Quentin and Tognon, Marco and Pucci, Daniele and Franchi, Antonio},
+  journal={IEEE Robotics and Automation Letters}, 
+  title={Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators}, 
+  year={2020},
+  volume={5},
+  number={2},
+  pages={331-338},
+  doi={10.1109/LRA.2019.2958473}}

content/publication/aerial-manip-ral/index.md

@@ -0,0 +1,91 @@
+---
+title: 'Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators'
+
+# Authors
+# If you created a profile for a user (e.g. the default `admin` user), write the username (folder name) here
+# and it will be replaced with their full name and linked to their profile.
+authors:
+  - admin
+  - Quentin Sablé
+  - Marco Tognon
+  - Daniele Pucci
+  - Antonio Franchi
+
+# # Author notes (optional)
+# author_notes:
+#   - 'Equal contribution'
+#   - 'Equal contribution'
+
+date: '2020'
+doi: ''
+
+# Schedule page publish date (NOT publication's date).
+publishDate: '2020-04-01T00:00:00Z'
+
+# Publication type.
+# Legend: 0 = Uncategorized; 1 = Conference paper; 2 = Journal article;
+# 3 = Preprint / Working Paper; 4 = Report; 5 = Book; 6 = Book section;
+# 7 = Thesis; 8 = Patent
+publication_types: ['2']
+
+# Publication name and optional abbreviated publication name.
+publication:  IEEE Robotics and Automation Letters
+# publication_short: In *ICRA*
+
+abstract: > 
+  In this letter we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is solved online. Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected. An on-board force/torque sensor mounted at the end effector is used in the feedback loop in order to cope with model inaccuracies and reject external disturbances. Real experiments with a multi-rotor platform and a multi-DoF lightweight manipulator demonstrate the applicability and effectiveness of the proposed approach in the real world.
+
+# # Summary. An optional shortened abstract.
+# summary: Lorem ipsum dolor sit amet, consectetur adipiscing elit. Duis posuere tellus ac convallis placerat. Proin tincidunt magna sed ex sollicitudin condimentum.
+
+tags: []
+
+# Display this page in the Featured widget?
+featured: true
+
+# Custom links (uncomment lines below)
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+
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+url_code: ''
+url_dataset: ''
+url_poster: ''
+url_project: ''
+url_slides: ''
+url_source: ''
+url_video: 'https://ieeexplore.ieee.org/document/8928943/media#media'
+
+# Featured image
+# To use, add an image named `featured.jpg/png` to your page's folder.
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+
+# Associated Projects (optional).
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+  - example
+
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+---
+
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+Click the _Cite_ button above to demo the feature to enable visitors to import publication metadata into their reference management software.
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content/publication/automatic-tuning-humanoids/cite.bib

@@ -0,0 +1,9 @@
+@INPROCEEDINGS{hum2016,
+author={D. Pucci and G. Nava and F. Nori},
+booktitle={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)},
+title={Automatic gain tuning of a momentum based balancing controller for humanoid robots},
+year={2016},
+volume={},
+number={},
+pages={158-164},
+month={11},}

content/publication/automatic-tuning-humanoids/index.md

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+---
+title: 'Automatic gain tuning of a momentum based balancing controller for humanoid robots'
+
+# Authors
+# If you created a profile for a user (e.g. the default `admin` user), write the username (folder name) here
+# and it will be replaced with their full name and linked to their profile.
+authors:
+  - Daniele Pucci
+  - admin 
+  - Francesco Nori
+
+# # Author notes (optional)
+# author_notes:
+#   - 'Equal contribution'
+#   - 'Equal contribution'
+
+date: '2016'
+doi: ''
+
+# Schedule page publish date (NOT publication's date).
+publishDate: '2016-11-01T00:00:00Z'
+
+# Publication type.
+# Legend: 0 = Uncategorized; 1 = Conference paper; 2 = Journal article;
+# 3 = Preprint / Working Paper; 4 = Report; 5 = Book; 6 = Book section;
+# 7 = Thesis; 8 = Patent
+publication_types: ['1']
+
+# Publication name and optional abbreviated publication name.
+publication:  2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
+# publication_short: In *ICRA*
+
+abstract: > 
+  This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the closed-loop, constrained joint space dynamics is linearized and the controller's gains are chosen so as to obtain desired properties of the linearized system. Symmetry and positive definiteness constraints of gain matrices are enforced by proposing a tracker for symmetric positive definite matrices. Simulation results are carried out on the humanoid robot iCub.
+
+# # Summary. An optional shortened abstract.
+# summary: Lorem ipsum dolor sit amet, consectetur adipiscing elit. Duis posuere tellus ac convallis placerat. Proin tincidunt magna sed ex sollicitudin condimentum.
+
+tags: []
+
+# Display this page in the Featured widget?
+featured: true
+
+# Custom links (uncomment lines below)
+# links:
+# - name: Custom Link
+#   url: http://example.org
+
+url_pdf: 'https://ieeexplore.ieee.org/document/7803272'
+url_code: ''
+url_dataset: ''
+url_poster: ''
+url_project: ''
+url_slides: ''
+url_source: ''
+url_video: ''
+
+# Featured image
+# To use, add an image named `featured.jpg/png` to your page's folder.
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+  caption: 'Image credit: [**Unsplash**](https://unsplash.com/photos/pLCdAaMFLTE)'
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+  preview_only: false
+
+# Associated Projects (optional).
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+#   Simply enter your project's folder or file name without extension.
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+  - example
+
+# Slides (optional).
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+#   Otherwise, set `slides: ""`.
+# slides: example
+---
+
+<!-- {{% callout note %}}
+Click the _Cite_ button above to demo the feature to enable visitors to import publication metadata into their reference management software.
+{{% /callout %}}
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+{{% callout note %}}
+Create your slides in Markdown - click the _Slides_ button to check out the example.
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+
+Supplementary notes can be added here, including [code, math, and images](https://wowchemy.com/docs/writing-markdown-latex/). -->

content/publication/centr-areo-control-icra/index.md

@@ -32,10 +32,11 @@ publishDate: '2022-05-01T00:00:00Z'
 publication_types: ['1']
 
 # Publication name and optional abbreviated publication name.
-publication:  International Conference on Robotics and Automation
+publication:  2022 International Conference on Robotics and Automation (ICRA)
 # publication_short: In *ICRA*
 
-abstract: This paper presents a modeling and control frame-work for multibody flying robots subject to non-negligible aero-dynamic forces acting on the centroidal dynamics. First, aero-dynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies. Compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.
+abstract: > 
+  This paper presents a modeling and control frame-work for multibody flying robots subject to non-negligible aero-dynamic forces acting on the centroidal dynamics. First, aero-dynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.
 
 # # Summary. An optional shortened abstract.
 # summary: Lorem ipsum dolor sit amet, consectetur adipiscing elit. Duis posuere tellus ac convallis placerat. Proin tincidunt magna sed ex sollicitudin condimentum.
@@ -50,14 +51,14 @@ featured: true
 # - name: Custom Link
 #   url: http://example.org
 
-url_pdf: 'https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9812147'
+url_pdf: 'https://ieeexplore.ieee.org/document/9812147'
 url_code: ''
 url_dataset: ''
 url_poster: ''
 url_project: ''
 url_slides: ''
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-url_video: 'https://www.youtube.com/watch?v=WDb-OVlh5XA'
+url_video: 'https://ieeexplore.ieee.org/document/9812147/media#media'
 
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content/publication/codyco-ral/cite.bib

@@ -0,0 +1,9 @@
+@ARTICLE{RAL2018,
+author={F. Romano and G. Nava and M. Azad and J. Camernik and S. Dafarra and O. Dermy and C. Latella and M. Lazzaroni and R. Lober and M. Lorenzini and D. Pucci and O. Sigaud and S. Traversaro and J. Babič and S. Ivaldi and M. Mistry and V. Padois and F. Nori},
+journal={IEEE Robotics and Automation Letters},
+title={The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction},
+year={2018},
+volume={3},
+number={1},
+pages={516-523},
+month={1},}

content/publication/codyco-ral/index.md

@@ -0,0 +1,105 @@
+---
+title: 'The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction'
+
+# Authors
+# If you created a profile for a user (e.g. the default `admin` user), write the username (folder name) here
+# and it will be replaced with their full name and linked to their profile.
+authors:
+  - Tong Hui
+  - Francesco Romano
+  - admin
+  - Morteza Azad
+  - Jernej Čamernik
+  - Stefano Dafarra
+  - Oriane Dermy
+  - Claudia Latella
+  - Maria Lazzaroni
+  - Ryan Lober
+  - Marta Lorenzini
+  - Daniele Pucci
+  - Olivier Sigaud
+  - Silvio Traversaro
+  - Jan Babič
+  - Serena Ivaldi
+  - Michael Mistry
+  - Vincent Padois
+  - Francesco Nori
+
+# # Author notes (optional)
+# author_notes:
+#   - 'Equal contribution'
+#   - 'Equal contribution'
+
+date: '2017'
+doi: ''
+
+# Schedule page publish date (NOT publication's date).
+publishDate: '2017-11-01T00:00:00Z'
+
+# Publication type.
+# Legend: 0 = Uncategorized; 1 = Conference paper; 2 = Journal article;
+# 3 = Preprint / Working Paper; 4 = Report; 5 = Book; 6 = Book section;
+# 7 = Thesis; 8 = Patent
+publication_types: ['2']
+
+# Publication name and optional abbreviated publication name.
+publication:  IEEE Robotics and Automation Letters
+# publication_short: In *ICRA*
+
+abstract: > 
+  The success of robots in real-world environments is largely dependent on their ability to interact with both humans and said environment. The FP7 EU project CoDyCo focused on the latter of these two challenges by exploiting both rigid and compliant contacts dynamics in the robot control problem. Regarding the former, to properly manage interaction dynamics on the robot control side, an estimation of the human behaviors and intentions is necessary. In this letter, we present the building blocks of such a human-in-the-loop controller, and validate them in both simulation and on the iCub humanoid robot using a human-robot interaction scenario. In this scenario, a human assists the robot in standing up from being seated on a bench.
+
+# # Summary. An optional shortened abstract.
+# summary: Lorem ipsum dolor sit amet, consectetur adipiscing elit. Duis posuere tellus ac convallis placerat. Proin tincidunt magna sed ex sollicitudin condimentum.
+
+tags: []
+
+# Display this page in the Featured widget?
+featured: true
+
+# Custom links (uncomment lines below)
+# links:
+# - name: Custom Link
+#   url: http://example.org
+
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+url_code: ''
+url_dataset: ''
+url_poster: ''
+url_project: ''
+url_slides: ''
+url_source: ''
+url_video: 'https://ieeexplore.ieee.org/document/8093992/media#media'
+
+# Featured image
+# To use, add an image named `featured.jpg/png` to your page's folder.
+image:
+  caption: 'Image credit: [**Unsplash**](https://unsplash.com/photos/pLCdAaMFLTE)'
+  focal_point: ''
+  preview_only: false
+
+# Associated Projects (optional).
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+#   Simply enter your project's folder or file name without extension.
+#   E.g. `internal-project` references `content/project/internal-project/index.md`.
+#   Otherwise, set `projects: []`.
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+  - example
+
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+# slides: example
+---
+
+<!-- {{% callout note %}}
+Click the _Cite_ button above to demo the feature to enable visitors to import publication metadata into their reference management software.
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+
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content/publication/flight-control-humanoids/cite.bib

@@ -0,0 +1,9 @@
+@INPROCEEDINGS{hum2018,
+author={G. {Nava} and L. {Fiorio} and S. {Traversaro} and D. {Pucci}},
+booktitle={2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)},
+title={Position and Attitude Control of an Underactuated Flying Humanoid Robot},
+year={2018},
+volume={},
+number={},
+pages={1-9},
+month={11},}