Stefano Dafarra

Engineering · Physical Sciences

10h-index361citations61works5.92yr avg
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Research Topics

Robotic Locomotion and Control(43), Prosthetics and Rehabilitation Robotics(30), Muscle Physiology and Disorders(8), Robotic Path Planning Algorithms(5), Robot Manipulation and Learning(5)

Publications61 total

gbionics/idyntree: v14.3.0
Zenodo (CERN European Organization for Nuclear Research)·2026Open Access
gbionics/adam: v0.5.1
Zenodo (CERN European Organization for Nuclear Research)·2026Open Access
gbionics/adam: v0.5.1
Zenodo (CERN European Organization for Nuclear Research)·2026Open Access
Learning to Evaluate Autonomous Behaviour in Human-Robot Interaction
arXiv (Cornell University)·2025Open Access
Towards a Shared Embodied Intelligence of Humanoid Robots: Optimization, Development, and Testing of the Human-Aware ergoCub Robot
2025Open Access
Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking
IEEE Robotics and Automation Letters·2025· 1 citedOpen Access
Physical and Digital GenAI Avatars: Do Interactive Representations of Individual Human Persons Have Agency and Moral Responsibility?
Frontiers in artificial intelligence and applications·2025
Adaptive Non-Linear Centroidal MPC With Stability Guarantees for Robust Locomotion of Legged Robots
IEEE Robotics and Automation Letters·2025· 10 cited
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
2024· 2 citedOpen Access
Remote telepresence over large distances via robot avatars: case studies
2024· 2 cited
XBG: End-to-End Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
IEEE Robotics and Automation Letters·2024· 3 cited
Online DNN-driven Nonlinear MPC for Stylistic Humanoid Robot Walking with Step Adjustment
arXiv (Cornell University)·2024· 1 citedOpen Access
Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots
arXiv (Cornell University)·2024Open Access
Remote telepresence over large distances via robot avatars: case studies
arXiv (Cornell University)·2024Open Access
XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration
arXiv (Cornell University)·2024Open Access
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
International Journal of Social Robotics·2024· 29 citedOpen Access
iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots
Science Robotics·2024· 57 citedOpen Access
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
arXiv (Cornell University)·2024· 2 citedOpen Access
Codesign of Humanoid Robots for Ergonomy Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization
arXiv (Cornell University)·2023Open Access
Codesign of Humanoid Robots for Ergonomic Collaboration with Multiple Humans via Genetic Algorithms and Nonlinear Optimization
2023· 9 cited
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Frequent Co-authors

Daniele Pucci(41), Giulio Romualdi(26), Silvio Traversaro(25), Francesco Nori(12), Gabriele Nava(11), Lorenzo Rapetti(9), Francesco Romanò(9), Giorgio Metta(8), Giuseppe L’Erario(8), Paolo Maria Viceconte(7), Carlotta Sartore(7), Mohamed Elobaid(7), Nuno Guedelha(7), Ines Sorrentino(5), Prashanth Ramadoss(5), Fabio Bergonti(5), Luca Fiorio(4), Ugo Pattacini(3), Kourosh Darvish(3), Enrico Valli(3)