[Publications] - Introduction

[Publications] - List

2024

L. Amatucci, G. Turrisi, A. Bratta, V. Barasuol, C. Semini, VERO: A Vacuum-cleaner-Equipped Quadruped RObot for Efficient Litter Removal,
Journal of Field Robotics, 2024, View at Publisher - Full paper - Video - 
@Article{amatucci24jfr,
AUTHOR = {Amatucci, Lorenzo and Turrisi, Giulio and Bratta, Angelo and Barasuol, Victor and Semini, Claudio},
TITLE = {VERO: A vacuum-cleaner-equipped quadruped robot for efficient litter removal},
YEAR = {2024},
JOURNAL = {Journal of Field Robotics},
doi={https://doi.org/10.1002/rob.22350}
}

2023

F. Roscia, M. Focchi, A. Del Prete, D. G. Caldwell, C. Semini, Reactive Landing Controller for Quadruped Robots,
IEEE Robotics and Automation Letters (RA-L), 2023, View at Publisher - Full paper - Video - Code -
@Article{roscia23ral,
AUTHOR = {Roscia, Francesco and Focchi, Michele and Del Prete, Andrea and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Reactive Landing Controller for Quadruped Robots},
YEAR = {2023},
JOURNAL = {IEEE Robotics and Automation Letters (RA-L)},
volume={8},
number={11},
pages={7210-7217},
doi={10.1109/LRA.2023.3313919}
}
P. Guadagna, M. Fernandes, F. Chen, A. Santamaria, T. Teng, T. Frioni, D. G. Caldwell, S. Poni, C. Semini, M. Gatti, Using deep learning for pruning region detection and plant organ segmentation in dormant spur-pruned grapevines,
Precision Agriculture, 2023, View at Publisher - Full paper -
@Article{guadagna23precision,
AUTHOR = {Guadagna, P. and Fernandes, M. and Chen, F. and Santamaria, A. and Teng, Tao and Frioni, Tommaso and Caldwell, D. and Poni, S. and Semini, Claudio and Gatti, Matteo},
TITLE = {Using deep learning for pruning region detection and plant organ segmentation in dormant spur-pruned grapevines},
YEAR = {2023},
month = {03},
pages = {1-23},
JOURNAL = {Precision Agriculture},
volume = {24},
doi = {10.1007/s11119-023-10006-y}
}
J.D. Gamba, R. Featherstone, A Springy Leg and a Double Backflip,
IEEE Robotics and Automation Letters (RA-L), 2023, View at Publisher - Full paper - BIBTEX Citation
@Article{gamba23ral,
AUTHOR = {Gamba, Juan D. and Featherstone, Roy},
TITLE = {A Springy Leg and a Double Backflip},
YEAR = {2023},
JOURNAL = IEEE Robotics and Automation Letters (RA-L)},
VOLUME={8},
NUMBER={8},
PAGES={4657-4664},
DOI={10.1109/LRA.2023.3287769}
}
A. Abdalla, M. Focchi, R. Orsolino and C. Semini, An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion
IEEE Transactions on Robotics (T-RO), 2023, View at Publisher - Full paper - Video - BIBTEX Citation
@Article{abdalla23tro,
AUTHOR = {Abdalla, Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio},
TITLE = {An Efficient Paradigm for Feasibility Guarantees in Legged Locomotion},
YEAR = {2023},
JOURNAL = {IEEE Transactions on Robotics},
DOI={10.1109/TRO.2023.3280431}
}
S. Fahmi, V. Barasuol, D. Esteban, O. Villarreal and C. Semini, ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
IEEE Transactions Robotics, (T-RO), 2023, View at Publisher - Full paper - Video -
@Article{fahmi23tro,
AUTHOR = {Fahmi, Shamel and Barasuol, Victor and Esteban, Domingo and Villarreal, Octavio and Semini, Claudio},
TITLE = {ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots},
JOURNAL = {IEEE Transactions Robotics},
VOLUME = {39},
YEAR = {2023},
NUMBER = {2},
PAGES={885-904},
DOI = {10.1109/TRO.2022.3222958},
URL = {https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9966331},
}
F. Roscia, A. Cumerlotti, A. Del Prete, C. Semini and M. Focchi, Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots
@Article{roscia23sensors,
AUTHOR = {Roscia, Francesco and Cumerlotti, Andrea and Del Prete, Andrea and Semini, Claudio and Focchi, Michele},
TITLE = {Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots},
JOURNAL = {Sensors},
VOLUME = {23},
YEAR = {2023},
NUMBER = {3},
ARTICLE-NUMBER = {1234},
URL = {https://www.mdpi.com/1424-8220/23/3/1234},
ISSN = {1424-8220},
DOI = {10.3390/s23031234}
}
A. Bratta, M. Focchi, N. Rathod and C. Semini, Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots
@Article{bratta23mdpi,
AUTHOR = {Bratta, Angelo and Focchi, Michele and Rathod, Niraj and Semini, Claudio},
TITLE = {Optimization-Based Reference Generator for Nonlinear Model Predictive Control of Legged Robots},
JOURNAL = {Robotics},
VOLUME = {12},
YEAR = {2023},
NUMBER = {6},
DOI = {10.3390/robotics12010006},
URL = {https://www.mdpi.com/2218-6581/12/1/6},
}

 

2022

Y. Nisticò, S. Fahmi, L. Pallottino, C. Semini and G. Fink, On Slip Detection for Quadruped Robots
MDPI Sensors, 2022, View at Publisher - Full paper -   
@Article{nistico22sensors,
AUTHOR = {Nisticò, Ylenia and Fahmi, Shamel and Pallottino, Lucia and Semini, Claudio and Fink, Geoff},
TITLE = {On Slip Detection for Quadruped Robots},
JOURNAL = {Sensors},
VOLUME = {22},
YEAR = {2022},
NUMBER = {8},
ARTICLE-NUMBER = {2967},
URL = {https://www.mdpi.com/1424-8220/22/8/2967},
PubMedID = {35458952},
ISSN = {1424-8220},
DOI = {10.3390/s22082967}
}

2021

N. Rathod, A. Bratta, M. Focchi, M, Zanon, O. Villarreal, C. Semini and A. Bemporad, Model Predictive Control with Environment Adaptation for Legged Locomotion
@misc{rathod2021model,
      title={Model Predictive Control with Environment Adaptation for Legged Locomotion}, 
      author={Niraj Rathod and Angelo Bratta and Michele Focchi and Mario Zanon and Octavio Villarreal and Claudio Semini and Alberto Bemporad},
      year={2021},
      eprint={2105.05998},
      archivePrefix={IEEE Access},
      primaryClass={cs.RO}
}
G. Urbain, V. Barasuol, C. Semini, J. Dambri and F. wyffels, Effect of Compliance on Morphological Control of Dynamic Locomotion with HyQ
Autonomous Robots, 2021, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{8698429,
AUTHOR = {Urbain, Gabriel and Barasuol, Victor and Semini, Claudio and Dambre, Joni and wyffels, Francis},
TITLE = {Effect of Compliance on Morphological Control of Dynamic Locomotion with HyQ},
JOURNAL = {{Autonomous Robots}},
YEAR = {2021},
PUBLISHER = {Springer Nature},
}
S. Fahmi, G. Fink and C. Semini, On State Estimation for Legged Locomotion over Soft Terrain
IEEE Sensors Letters, 2021, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{Fahmi2021,
AUTHOR = {S. {Fahmi} and G. {Fink} and C. {Semini}},
TITLE = {On State Estimation for Legged Locomotion over Soft Terrain},
JOURNAL = {{IEEE Sensors Letters (L-SENS)}},
YEAR = {2021},
MONTH = {Jan.},
VOLUME = {5},
NUMBER = {1},
PAGES = {1--4},
}

 

2020

M. Focchi, D. Pucci, and A. Del Prete, Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots
Frontiers in Robotics and AI, 2020. View at publisher - Full paper - BIBTEX Citation
@ARTICLE{frontiers20focchi,
AUTHOR = {Focchi, Michele and Pucci, Daniele and Del Prete, Andrea},
TITLE = {Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots},
JOURNAL = {Frontiers in Robotics and AI},
YEAR = {2020},
URL = {https://www.frontiersin.org/articles/10.3389/frobt.2020.629002/full},
DOI = {10.3389/frobt.2020.629002},
}
G. Raiola, E. M. Hoffman, M. Focchi, N. G. Tsagarakis and C. Semini, A simple yet effective whole-body locomotion framework for quadruped robots
Frontiers in Robotics and AI, 2020. View at publisher - Full paper - BIBTEX Citation
@ARTICLE{frontiers20raiola,
AUTHOR = {Raiola, Gennaro and Hoffman, Enrico Mingo and Focchi, Michele and Tsagarakis, Nikos and Semini, Claudio},
TITLE = {A simple yet effective whole-body locomotion framework for quadruped robots},
JOURNAL = {Frontiers in Robotics and AI},
YEAR = {2020},
URL = {https://www.frontiersin.org/articles/10.3389/frobt.2020.528473/full},
DOI = {10.3389/frobt.2020.528473},
}
R. Orsolino, M. Focchi, S. Caron, G. Raiola, V. Barasuol, D.G. Caldwell and C. Semini, Feasible Region: an Actuation-Aware Extension of the Support Region
IEEE Transactions on Robotics (T-RO), 2020. View at publisher - Full paper - Video - BIBTEX Citation
ARTICLE{orsolino19tro,
AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caron Stéphane and Raiola, Gennaro and Barasuol, Victor and Darwin G. Caldwell and Semini, Claudio},
TITLE = {Feasible Region: an Actuation-Aware Extension of the Support Region},
JOURNAL = {{IEEE Transactions on Robotics (T-RO)}},
YEAR = {2020},
MONTH = {Aug.},
VOLUME = {36},
NUMBER = {4},
PAGES = {1239 - 1255},
}
S. Fahmi, M. Focchi, A. Radulescu, G. Fink, V. Barasuol, and C. Semini, STANCE: Locomotion Adaptation over Soft Terrain,
IEEE Transactions on Robotics (T-RO), 2020. View at publisher - Full paper - Blog - Video - BIBTEX Citation
@Article{Fahmi2020TRO,
Title = {{STANCE}: Locomotion Adaptation over Soft Terrain},
Author = {S. {Fahmi} and M. {Focchi} and A. {Radulescu} and G. {Fink} and V. {Barasuol} and C. {Semini}},
Journal = {{IEEE} Trans. Robot. ({T-RO})},
Year = {2020},
Month = {Apr.},
Volume = {36},
Number = {2},
Pages = {443--457},
Doi = {10.1109/TRO.2019.2954670},
}
C. Mastalli, I. Havoutis, D. G. Caldwell and C. Semini, Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control,
IEEE Transactions on Robotics (T-RO), 2020. View at publisher - Full paper - Video - BIBTEX Citation
@Article{MasXXXXXX020TRO,
Title = {Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control},
Author = {C. {Mastalli} and I. {Havoutis} and M. {Focchi} and D. G. {Caldwell} and C. {Semini}},
Journal = {{IEEE} Trans. Robot. ({T-RO})},
Year = {2020},
Pages = {1--14},
}
M. Focchi, R. Orsolino, M. Camurri, V. Barasuol, C. Mastalli, D.G. Caldwell and C. Semini, Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Springer Tracts in Advanced Robotics (STAR), 2020 - View at publisher - Full paper - Video - BIBTEX Citation
@Inbook{Focchi2020, author={"Focchi, Michele and Orsolino, Romeo and Camurri, Marco and Barasuol, Victor and Mastalli, Carlos and Caldwell, Darwin G. and Semini, Claudio"},
title={Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality},
bookTitle={Advances in Robotics Research: From Lab to Market: ECHORD++: Robotic Science Supporting Innovation},
year={2020},
publisher= {Springer International Publishing},
pages={165--209},
isbn={978-3-030-22327-4},
doi={10.1007/978-3-030-22327-4_9},
url={https://doi.org/10.1007/978-3-030-22327-4_9}
}

 

2019

S. Fahmi, C. Mastalli, M. Focchi and C. Semini, Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain,
IEEE Robotics and Automation Letters (RA-L), 2019, View at publisher - Full paperBlog - Video - BIBTEX Citation
@Article{Fahmi2019RAL,
Title = {Passive Whole-Body Control for Quadruped Robots: Experimental Validation Over Challenging Terrain},
Author = {S. {Fahmi} and C. {Mastalli} and M. {Focchi} and C. {Semini}},
Journal = {{IEEE} Robot. Automat. Lett. ({RA-L})},
Year = {2019},
Month = {Jul.},
Number = {3},
Pages = {2553--2560},
Volume = {4},
Doi = {10.1109/LRA.2019.2908502},
}
O. Villarreal, V. Barasuol, M. Camurri, L. Franceschi, M. Focchi, M. Pontil, D.G. Caldwell and C. Semini, Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs
IEEE Robotics and Automation Letters, (RA-L), 2019, View at publisher - Full paper - Video - BIBTEX Citation
@ARTICLE{villarreal19ral,
AUTHOR = {Villarreal, Octavio and Barasuol, Victor and Camurri, Marco and Franceschi, Luca and Focchi, Michele and Pontil, Massimiliano and Caldwell, Darwin Gordon and Semini, Claudio},
JOURNAL = {IEEE Robotics and Automation Letters},
TITLE = {Fast and Continuous Foothold Adaptation for Dynamic Locomotion through CNNs},
YEAR = {2019},
VOLUME = {},
NUMBER = {},
PAGES = {1-1},
KEYWORDS = {Legged locomotion;Robot sensing systems;Foot;Visualization;Trajectory;Legged Robots;Reactive and Sensor-Based Planning;Deep Learning in Robotics and Automation},
DOI = {10.1109/LRA.2019.2899434},
ISSN = {2377-3766},
MONTH = {},
}

 

2018

V. Barasuol, O.A. Villarreal-Magaña, D. Sangiah, M. Frigerio, M. Baker, R. Morgan, G.A. Medrano-Cerda, D.G. Caldwell and C. Semini, Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control
Frontiers in Robotics and AI, 51, 2018, View at publisher - BIBTEX Citation
@ARTICLE{frontiers18barasuol,
AUTHOR = {Barasuol, Victor and Villarreal-Magaña, Octavio A. and Sangiah, Dhinesh and Frigerio, Marco and Baker, Mike and Morgan, Robert and Medrano-Cerda, Gustavo A. and Caldwell, Darwin Gordon and Semini, Claudio},
TITLE = {Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control},
JOURNAL = {Frontiers in Robotics and AI},
VOLUME = {5},
PAGES = {51},
YEAR = {2018},
URL = {https://www.frontiersin.org/article/10.3389/frobt.2018.00051},
DOI = {10.3389/frobt.2018.00051},
ISSN = {2296-9144},
}
R. Orsolino, M. Focchi, C. Mastalli, H. Dai, G.D. Caldwell and C. Semini, Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
IEEE Robotics and Automation Letters (RA-L), 2018, View at publisher - Full paper - Video - BIBTEX Citation
@ARTICLE{orsolino18ral,
AUTHOR = {Orsolino, Romeo and Focchi, Michele and Mastalli, Carlos and Dai, Hongkai and Caldwell, G. D. and Semini, Claudio},
TITLE = {Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots},
BOOKTITLE = {IEEE Robotics and Automation Letters},
YEAR = {2018},
DOI = {10.1109/LRA.2018.2836441},
}
G. Raiola, C.A. Cardenas, T.S. Tadele, T. De Vries and S. Stramigioli, Development of a Safety and Energy Aware Impedance Controller for Collaborative Robots
IEEE Robotics and Automation Letters (RA-L), 2018, View at publisher - Full paper - Video - BIBTEX Citation
@ARTICLE{raiola18ral,
AUTHOR = {G. Raiola and C. A. Cardenas and T. S. Tadele and T. De Vries and S. Stramigioli},
TITLE = {Development of a Safety and Energy Aware Impedance Controller for Collaborative Robots},
BOOKTITLE = {IEEE Robotics and Automation Letters},
DOI = {10.1109/LRA.2018.2795639},
YEAR = {2018},
}

 

2017

B. Aceituno-Cabezas, C. Mastalli, H. Dai, M. Focchi, A. Radulescu, D.G. Caldwell, J. Cappelletto, J.C. Grieco, G. Fernandez-Lopez and C. Semini, Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
IEEE Robotics and Automation Letters (RA-L), 2017, View at publisher - Full paper - Video - BIBTEX Citation
@ARTICLE{aceituno_mastalli17ral,
AUTHOR = {Aceituno-Cabezas, Bernardo and Mastalli, Carlos and Dai, Hongkai and Focchi, Michele and Radulescu, Andreea and Caldwell, Dawrin G. and Cappelletto J. and Grieco, J. C. and Fernandez-Lopez G. and Semini, Claudio},
BOOKTITLE = {IEEE Robotics and Automation Letters},
TITLE = {Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization},
DOI = {10.1109/LRA.2017.2779821},
YEAR = {2017},
}
S. Chitta, E. Marder-Eppstein, W. Meeussen, V. Pradeep, A. Rodriguez Tsouroukdissian, J. Bohren, D. Coleman, B. Magyar, G. Raiola, M. Luedtke and E. Fernandez Perdomo, ros_control: A generic and simple control framework for ROS
The Journal of Open Source Software, 2017, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{raiola17joss,
AUTHOR = {Chitta, Sachin and Marder-Eppstein, Eitan and Meeussen, Wim and Pradeep, Vijay and Rodriguez Tsouroukdissian, Adolfo and Bohren, Jonathan and Coleman, David and Magyar, Bence and Raiola, Gennaro and Luedtke, Mathias and Fernandez Perdomo, Enrique},
BOOKTITLE = {The Journal of Open Source Software},
TITLE = {ros_control: A generic and simple control framework for ROS},
YEAR = {2017},
DOI = {10.21105/joss.00456},
}
M. Giftthaler, M. Neunert, M. Staeuble, M. Frigerio, C. Semini and J. Buchli, Automatic differentiation of rigid body dynamics for optimal control and estimation
Advanced Robotics, 2017, View at publisher - BIBTEX Citation
@ARTICLE{giftthaler17advr,
AUTHOR = {Giftthaler, Markus and Neunert, Micheal and Staeuble, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},
BOOKTITLE = {Advanced Robotics},
TITLE = {Automatic differentiation of rigid body dynamics for optimal control and estimation},
VOLUME = {0},
NUMBER = {0},
PAGES = {1-13},
YEAR = {2017},
PUBLISHER = {Taylor & Francis},
URL = {http://dx.doi.org/10.1080/01691864.2017.1395361},
DOI = {10.1080/01691864.2017.1395361},
}
H. Khan, M. D'Imperio, F. Cannella, D.G. Caldwell, A. Cuschieri and C. Semini, Towards Scalable Strain Gauge-Based Joint Torque Sensors
@ARTICLE{khan17sensors,
AUTHOR = {Khan, Hamza and D'Imperio, Mariapaola and Cannella, Ferdinando and Caldwell, Darwin G. and Cuschieri, Alfred and Semini, Claudio},
BOOKTITLE = {Sensors},
TITLE = {Towards Scalable Strain Gauge-Based Joint Torque Sensors},
YEAR = {2017},
DOI = {10.3390/s17081905},
}
A. Dollar, C. Semini, K. Cho and M. Ciocarlie, Bringing Together Researchers in Robot Mechanisms and Design
IEEE Robotics and Automation Magazine, 2017, View at publisher - BIBTEX Citation
@ARTICLE{dollar17ram,
AUTHOR = {Dollar, A. and Semini, C. and Cho, K. and Ciocarlie M.},
BOOKTITLE = {IEEE Robotics and Automation Magazine},
TITLE = {Bringing Together Researchers in Robot Mechanisms and Design},
YEAR = {2017},
DOI = {10.1109/MRA.2016.2646069},
}
J. Mattila, C. Semini, H. Moon, J.H. Buchli, P. Li and B. Yao, Guest editorial introduction to the focused section on design andcontrol of hydraulic robots
IEEE/ASME Transactions on Mechatronics, 2017, View at publisher - BIBTEX Citation
@ARTICLE{mattila17asme-tmech,
AUTHOR = {Mattila, J. and Semini, C. and Moon, H. and Buchli, J.and Hyon, S. and Li, P.Y. and Yao, B.},
BOOKTITLE = {IEEE/ASME Transactions on Mechatronics},
TITLE = {Guest editorial introduction to the focused section on design andcontrol of hydraulic robots},
YEAR = {2017},
DOI = {10.1109/TMECH.2017.2668611},
URL = {http://dx.doi.org/10.1109/TMECH.2017.2668611},
}
J. Mattila, J. Koivumaki, D.G. Caldwell and C. Semini, A Survey on Control of Hydraulic Robotic Manipulators with Projection to Future Trends
IEEE/ASME Transactions on Mechatronics, 1-1, 2017, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{mattila17tmech,
AUTHOR = {Mattila, Jouni and Koivumaki, Janne and Caldwell, Darwin G. and Semini, Claudio},
JOURNAL = {IEEE/ASME Transactions on Mechatronics},
TITLE = {A Survey on Control of Hydraulic Robotic Manipulators with Projection to Future Trends},
YEAR = {2017},
VOLUME = {PP},
NUMBER = {99},
PAGES = {1-1},
KEYWORDS = {Actuators;Legged locomotion;Manipulators;Service robots;Stability analysis;force control;hydraulic manipulators;motion control;performance evaluation;robotics},
DOI = {10.1109/TMECH.2017.2668604},
ISSN = {1083-4435},
MONTH = {},
}
M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D.G. Caldwell and C. Semini, Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots
IEEE Robotics and Automation Letters (RA-L), 2017, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{camurri17ral,
AUTHOR = {M. Camurri and M. Fallon and S. Bazeille and A. Radulescu and V. Barasuol and D. G. Caldwell and C. Semini},
JOURNAL = {IEEE Robotics and Automation Letters},
TITLE = {Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
YEAR = {2017},
VOLUME = {2},
NUMBER = {2},
PAGES = {1023-1030},
KEYWORDS = {Estimation;Foot;Legged locomotion;Robot kinematics;Robot sensing systems;Localization;multilegged robots;sensor fusion},
DOI = {10.1109/LRA.2017.2652491},
ISSN = {2377-3766},
MONTH = {April},
}
M. Focchi, A. del Prete, I. Havoutis, R. Featherstone, D.G. Caldwell and C. Semini, High-slope terrain locomotion for torque-controlled quadruped robots
Autonomous Robots, 2017, View at publisher - Full paper - Video - BIBTEX Citation
@ARTICLE{focchi2016,
AUTHOR = {Focchi, Michele and del Prete, Andrea and Havoutis, Ioannis and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {High-slope terrain locomotion for torque-controlled quadruped robots},
JOURNAL = {Autonomous Robots},
YEAR = {2017},
VOLUME = {41},
NUMBER = {1},
PAGES = {259-272},
DOI = {10.1007/s10514-016-9573-1},
URL = {http://dx.doi.org/10.1007/s10514-016-9573-1},
ISSN = {1083-4435},
}

 

2016

C. Semini, V. Barasuol, J. Goldsmith, M. Frigerio, M. Focchi, Y. Gao and D.G. Caldwell, Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max
IEEE/ASME Transactions on Mechatronics, 1-1, 2016, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{tmech16semini,
AUTHOR = {Semini, Claudio and Barasuol, Victor and Goldsmith, Jake and Frigerio, Marco and Focchi, Michele and Gao, Yifu and Caldwell, Darwin G.},
JOURNAL = {IEEE/ASME Transactions on Mechatronics},
TITLE = {Design of the Hydraulically-Actuated, Torque-Controlled Quadruped Robot HyQ2Max},
YEAR = {2016},
VOLUME = {PP},
NUMBER = {99},
PAGES = {1-1},
KEYWORDS = {Actuators;Biological system modeling;Couplings;Legged locomotion;Mechatronics;Vehicle dynamics},
DOI = {10.1109/TMECH.2016.2616284},
ISSN = {1083-4435},
}
M. Frigerio, J. Buchli, D.G. Caldwell and C. Semini, RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages
Journal of Software Engineering for Robotics (JOSER), 36--54, 2016, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{frigerio2016robcogen,
AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio },
TITLE = {RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages},
JOURNAL = {Journal of Software Engineering for Robotics (JOSER)},
YEAR = {2016},
DATE = {July},
VOLUME = {7},
NUMBER = {1},
ISSUE = {Special Issue on Domain-Specific Languages and Models for Robotic Systems},
PAGES = {36--54},
URL = {http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=98},
}
M. Focchi, G.A. Medrano-Cerda, T. Boaventura, M. Frigerio, C. Semini, J. Buchli and D.G. Caldwell, Robot impedance control and passivity analysis with inner torque and velocity feedback loops
Control Theory and Technology, 2016, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{focchi16ctt,
AUTHOR = {Focchi, Michele and Medrano-Cerda, Gustavo A. and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Robot impedance control and passivity analysis with inner torque and velocity feedback loops},
JOURNAL = {Control Theory and Technology},
YEAR = {2016},
ISSN = {2198-0942},
DOI = {10.1007/s11768-016-5015-z},
URL = {http://dx.doi.org/10.1007/s11768-016-5015-z},
}

 

2015

T. Boaventura, J. Buchli, C. Semini and D.G. Caldwell, Model-Based Hydraulic Impedance Control for Dynamic Robots
IEEE Transactions on Robotics (T-RO), 2015, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{boaventura15tro,
AUTHOR = {Boaventura, T. and Buchli, J. and Semini, C. and Caldwell, D.G.},
JOURNAL = {Robotics, IEEE Transactions on},
TITLE = {Model-Based Hydraulic Impedance Control for Dynamic Robots},
YEAR = {2015},
VOLUME = {31},
NUMBER = {6},
PAGES = {1324-1336},
KEYWORDS = {Dynamics;Force control;Hydraulic actuators;Impedance;Legged locomotion;Force control;hydraulics;impedance control;legged robots},
DOI = {10.1109/TRO.2015.2482061},
ISSN = {1552-3098},
MONTH = {Dec},
}
H. Dallali, G.A. Medrano-Cerda, M. Focchi, T. Boaventura, M. Frigerio, C. Semini, J. Buchli and D.G. Caldwell, On the use of positive feedback for improved torque control
Control Theory and Technology, 266-285, 2015, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{dallali15ctt,
YEAR = {2015},
ISSN = {2095-6983},
JOURNAL = {Control Theory and Technology},
VOLUME = {13},
NUMBER = {3},
DOI = {10.1007/s11768-015-4146-y},
TITLE = {On the use of positive feedback for improved torque control},
URL = {http://dx.doi.org/10.1007/s11768-015-4146-y},
PUBLISHER = {South China University of Technology and Academy of Mathematics and Systems Science, CAS},
KEYWORDS = {Force-torque control; load motion compensation; decentralized control},
AUTHOR = {Dallali, Houman and Medrano-Cerda, Gustavo A. and Focchi, Michele and Boaventura, Thiago and Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, DarwinG.},
PAGES = {266-285},
LANGUAGE = {English},
}
B. Ugurlu, I. Havoutis, C. Semini, K. Kayamori, D.G. Caldwell and T. Narikiyo, Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ
Autonomous Robots, 415-437, 2015, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{ugurlu15ar,
YEAR = {2015},
ISSN = {0929-5593},
JOURNAL = {Autonomous Robots},
VOLUME = {38},
NUMBER = {4},
DOI = {10.1007/s10514-015-9422-7},
TITLE = {Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ},
PUBLISHER = {Springer US},
KEYWORDS = {Quadrupedal locomotion; Dynamic trot-walking; Active compliance; Pattern generation},
AUTHOR = {Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Kayamori, Kana and Caldwell, DarwinG. and Narikiyo, Tatsuo},
PAGES = {415-437},
LANGUAGE = {English},
}
S. Bazeille, J. Ortiz, F. Rovida, M. Camurri, A. Meguenani, D.G. Caldwell and C. Semini, Active camera stabilization to enhance the vision of agile legged robots
@ARTICLE{bazeille15robo,
AUTHOR = {Bazeille,Stéphane and Ortiz,Jesus and Rovida,Francesco and Camurri,Marco and Meguenani,Anis and Caldwell,Darwin G. and Semini,Claudio},
TITLE = {Active camera stabilization to enhance the vision of agile legged robots},
JOURNAL = {Robotica},
VOLUME = {FirstView},
MONTH = {11},
YEAR = {2015},
ISSN = {1469-8668},
PAGES = {1--19},
NUMPAGES = {19},
DOI = {10.1017/S0263574715000909},
URL = {http://journals.cambridge.org/article_S0263574715000909},
}
C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, M. Focchi, D.G. Caldwell and J. Buchli, Towards versatile legged robots through active impedance control
The International Journal of Robotics Research (IJRR), 1003--1020, 2015, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{semini15ijrr,
AUTHOR = {Semini, Claudio and Barasuol, Victor and Boaventura, Thiago and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G. and Buchli, Jonas},
TITLE = {Towards versatile legged robots through active impedance control},
JOURNAL = {The International Journal of Robotics Research (IJRR)},
YEAR = {2015},
VOLUME = {34},
PAGES = {1003--1020},
NUMBER = {7},
OWNER = {csemini},
TIMESTAMP = {2015.05.23},
URL = {http://ijr.sagepub.com/content/34/7/1003},
DOI = {10.1177/0278364915578839},
}

 

2014

S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D.G. Caldwell and C. Semini, Quadruped robot trotting over irregular terrain assisted by stereo-vision
Intelligent Service Robotics, 2014, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{bazeille14isr,
AUTHOR = {Bazeille, Stephane and Barasuol, Victor and Focchi, Michele and Havoutis, Ioannis and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Quadruped robot trotting over irregular terrain assisted by stereo-vision},
JOURNAL = {Intelligent Service Robotics},
YEAR = {2014},
VOLUME = {vol. 7},
PAGES = {pp. 67-77},
OWNER = {mfocchi},
TIMESTAMP = {2014.11.24},
DOI = {10.1007/s11370-014-0147-9},
}
E. Kostamo, M. Focchi, E. Guglielmino, J. Kostamo, J. Buchli, M. Pietola and D.G. Caldwell, Magnetorheologically Damped Compliant Foot for Legged Robotic Application
Journal of Mechanical Design, 2014, View at publisher - Full paper - Video - BIBTEX Citation
@ARTICLE{kostamo14,
AUTHOR = {Kostamo, Esa and Focchi, Michele and Guglielmino, Emanuele and Kostamo, Jari and Buchli, Jonas and Pietola, Matti and Caldwell, Darwin G.},
TITLE = {Magnetorheologically Damped Compliant Foot for Legged Robotic Application},
JOURNAL = {Journal of Mechanical Design},
YEAR = {2014},
VOLUME = {vol. 136},
PAGES = {pp. 021003-1/8},
__MARKEDENTRY = {[mfocchi:6]},
OWNER = {mfocchi},
TIMESTAMP = {2014.11.24},
DOI = {10.1115/1.4025966},
}
M. Camurri, R. Vezzani and R. Cucchiara, 3D Hough transform for sphere recognition on point clouds
Machine Vision and Applications, 1877-1891, 2014, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{camurri14,
YEAR = {2014},
ISSN = {0932-8092},
JOURNAL = {Machine Vision and Applications},
VOLUME = {25},
NUMBER = {7},
DOI = {10.1007/s00138-014-0640-3},
TITLE = {3D Hough transform for sphere recognition on point clouds},
URL = {http://dx.doi.org/10.1007/s00138-014-0640-3},
PUBLISHER = {Springer Berlin Heidelberg},
KEYWORDS = {3D Hough transform; Sphere detection; Randomized HT; Probabilistic HT},
AUTHOR = {Camurri, Marco and Vezzani, Roberto and Cucchiara, Rita},
PAGES = {1877-1891},
LANGUAGE = {English},
}

 

2011

C. Semini, N.G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella and D.G. Caldwell, Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot
IMechE Part I: Journal of Systems and Control Engineering, 831-849, 2011, View at publisher - Full paper - BIBTEX Citation
@ARTICLE{semini11hyqdesignjsce,
AUTHOR = {Semini, Claudio and Tsagarakis, Nikos G. and Guglielmino, Emanuele and Focchi, Michele and Cannella, Ferdinando and Caldwell, Darwin G.},
TITLE = {Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot},
JOURNAL = {IMechE Part I: Journal of Systems and Control Engineering},
YEAR = {2011},
VOLUME = {225},
PAGES = {831-849},
NUMBER = {6},
OWNER = {CSemini},
TIMESTAMP = {2011.02.20},
DOI = {10.1177/0959651811402275},
}
A. Bratta, Online Optimization-based Gait Adaptation of Quadruped Robot Locomotion
2023 - Download dissertation -
@PHDTHESIS{bratta23phd,
AUTHOR = {Bratta, Angelo},
TITLE = {Online Optimization-based Gait Adaptation of Quadruped Robot Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2023},
OWNER = {phd},
TIMESTAMP = {2023.03.30},
}
S. Fahmi, On Terrain-Aware Locomotion for Legged Robots
2021 - Download dissertation -
@PHDTHESIS{fahmi21phd,
AUTHOR = {Fahmi, Shamel},
TITLE = {On Terrain-Aware Locomotion for Legged Robots},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2021},
OWNER = {phd},
TIMESTAMP = {2021.04.30},
}
O. Villarreal, Bridging Vision and Dynamic Legged Locomotion
2020 - Download dissertation - BIBTEX Citation
@PHDTHESIS{villarreal20phd,
AUTHOR = {Villarreal, Octavio},
TITLE = {Bridging Vision and Dynamic Legged Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2020},
OWNER = {phd},
TIMESTAMP = {2020.03.30},
}
R. Orsolino, Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion
2019 - Download dissertation - BIBTEX Citation
@PHDTHESIS{orsolino19phd,
AUTHOR = {Orsolino, Romeo},
TITLE = {Actuation-Aware Simplified Dynamic Models for Robotic Legged Locomotion},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2019},
OWNER = {phd},
TIMESTAMP = {2020.03.30},
}
Y. Gao, Towards the Design and Evaluation of Robotic Legs of Quadruped Robots
2018 - Download dissertation - BIBTEX Citation
@PHDTHESIS{gao18phd,
AUTHOR = {Gao, Yifu},
TITLE = {Towards the Design and Evaluation of Robotic Legs of Quadruped Robots},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2018},
OWNER = {phd},
TIMESTAMP = {2017.09.29},
}
M. Camurri, Multisensory State Estimation and Mapping on Dynamic Legged Robots
2017 - Download dissertation - BIBTEX Citation
@PHDTHESIS{camurri17phd,
AUTHOR = {Camurri, Marco},
TITLE = {Multisensory State Estimation and Mapping on Dynamic Legged Robots},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2017},
OWNER = {phd},
TIMESTAMP = {2017.09.29},
}
C. Mastalli, Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain
2017 - Download dissertation - BIBTEX Citation
@PHDTHESIS{mastalli17phd,
AUTHOR = {Mastalli, Carlos},
TITLE = {Planning and Execution of Dynamic Whole-Body Locomotion on Challenging Terrain},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2017},
OWNER = {phd},
TIMESTAMP = {2017.09.29},
}
B. U. Rehman, Design and Control of a Compact Hydraulic Manipulator for Quadruped Robots
2016 - Download dissertation - BIBTEX Citation
@PHDTHESIS{phd16brehman,
AUTHOR = {Rehman, Bilal U},
TITLE = {Design and Control of a Compact Hydraulic Manipulator for Quadruped Robots},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2016},
}
H. Khan, MiniHyQ - Development of a Lighweight Highly-Dynamic Hydraulic Quadruped Robot
2015 - Download dissertation - BIBTEX Citation
@PHDTHESIS{khan15phd,
AUTHOR = {Khan, Hamza},
TITLE = {MiniHyQ - Development of a Lighweight Highly-Dynamic Hydraulic Quadruped Robot},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2015},
OWNER = {phd},
TIMESTAMP = {2013.09.29},
}
M. Frigerio, Model--Based Code Generation for the Kinematics and the Dynamics of Articulated Robots
2013 - Download dissertation - BIBTEX Citation
@PHDTHESIS{frigerio13phd,
AUTHOR = {Frigerio, Marco},
TITLE = {Model--Based Code Generation for the Kinematics and the Dynamics of Articulated Robots},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2013},
OWNER = {phd},
TIMESTAMP = {2013.09.29},
}
T. Boaventura, Hydraulic Compliance Control of the Quadruped Robot HyQ
2013 - Download dissertation - BIBTEX Citation
@PHDTHESIS{cunha13phdthesis,
AUTHOR = {Boaventura, Thiago},
TITLE = {Hydraulic Compliance Control of the Quadruped Robot HyQ},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2013},
OWNER = {CSemini},
}
M. Focchi, Strategies To Improve the Impedance Control Performance of a Quadruped Robot
2013 - Download dissertation - BIBTEX Citation
@PHDTHESIS{focchi13phdthesis,
AUTHOR = {Focchi, Michele},
TITLE = {Strategies To Improve the Impedance Control Performance of a Quadruped Robot},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2013},
OWNER = {CSemini},
}
C. Semini, HyQ -- Design and Development of a Hydraulically Actuated Quadruped Robot
2010 - Download dissertation - BIBTEX Citation
@PHDTHESIS{semini10phdthesis,
AUTHOR = {Semini, Claudio},
TITLE = {HyQ -- Design and Development of a Hydraulically Actuated Quadruped Robot},
SCHOOL = {Istituto Italiano di Tecnologia (IIT) and University of Genova},
YEAR = {2010},
OWNER = {CSemini},
TIMESTAMP = {2010.09.12},
}

2024

G. Turrisi, V. Modugno, L. Amatucci, D. Kanoulas, C. Semini, On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, (accepted), View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{turrisi24iros,
author = {Turrisi, Giulio, and Modugno, Valerio and Amatucci, Lorenzo and Kanoulas, Dimitrios and Semini, Claudio},
title = {On the Benefits of GPU Sample-Based Stochastic Predictive Controllers for Legged Locomotion},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2024},
note={accepted},
}
L. Amatucci, G. Turrisi, A. Bratta , V. Barasuol, C. Semini, Accelerating Model Predictive Control for Legged Robots through Distributed Optimization
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, (accepted), View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{amatucci24iros,
author = {Amatucci, Lorenzo and Turrisi, Giulio and Bratta, Angelo and Barasuol, Victor and Semini, Claudio},
title = {Accelerating Model Predictive Control for Legged Robots through Distributed Optimization},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2024},
note={accepted},
}
G. Turrisi, L. Schulze, V. S. Medeiros, C. Semini, V. Barasuol, PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, (accepted), View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{barasuol24iros,
author = {Turrisi, Giulio, and Schulze, Lucas and Medeiros, Vivian S. and Semini, Claudio and Barasuol, Victor},
title = {PACC: A Passive-Arm Approach for High-Payload Collaborative Carrying with Quadruped Robots Using Model Predictive Control},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2024},
note={accepted},
}
Z. Su, X. Huang, D. Ordoñez-Apraez, Y. Li, Z. Li, Q. Liao, G. Turrisi, M. Pontil, C. Semini, Y. W, K. Sreenath, Leveraging Symmetry in RL-based Legged Locomotion Control
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, (accepted), View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{su24iros,
author = {Su, Zhi and Huang, Xiaoyu and Ordoñez-Apraez, Daniel and Li, Zhongyu and Liao, Qiayuan and Turrisi, Giulio and Pontil, Massimiliano and Semini, Claudio and Wu, Yi and Sreenath, Koushil},
title = {Leveraging Symmetry in RL-based Legged Locomotion Control},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2024},
note={accepted},
}
D. Ordoñez-Apraez, V. Kostic, G. Turrisi, P. Novelli, C. Mastalli, C. Semini, and M. Pontil, Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling
Proceedings of the 6th Annual Learning for Dynamics & Control Conference (PMLR), 2024, View at Publisher - Full paper - 
@INPROCEEDINGS{ordonez24l4dc,
author = {Ordoñez-Apraez, Daniel and Kostic, Vladimir and Turrisi, Giulio and Novelli, Pietro and Mastalli, Carlos and Semini, Claudio and Pontil, Massimiliano},
title = {Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling},
booktitle={Proceedings of the 6th Annual Learning for Dynamics Control Conference (PMLR)},
year = {2024}
G. F. Abati, J. C. V. Soares, V. S. Medeiros, M. A. Meggiolaro and C. Semini,  Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation
21st International Conference on Ubiquitous Robots (UR), 2024, View at Publisher - Full paper - Video - Code -  
@INPROCEEDINGS{bratta24ur,
author = {Abati, Gabriel Fischer and Virgolino Soares, Joao Carlos and Suzano Medeiros, Vivian and Meggiolaro, Marco Antonio and Semini, Claudio},
title = {Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation},
booktitle={21st International Conference on Ubiquitous Robots (UR)},
year = {2024}
A. Bratta, A. Meduri, M. Focchi, L. Righetti, C. Semini,  ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion
21st International Conference on Ubiquitous Robots (UR), 2024,  View at Publisher - Full paper - Video - 
@INPROCEEDINGS{bratta24ur,
author = {Bratta, Angelo and Meduri, Avadesh and Focchi, Michele and Righetti, Ludovic and Semini, Claudio},
title = {ContactNet: Online Multi-Contact Planning for Acyclic Legged Robot Locomotion},
booktitle={21st International Conference on Ubiquitous Robots (UR)},
year = {2024}
V. Barasuol, E. Sinan, V. Suzano Medeiros, A. Bratta, C. Semini,  Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots
IEEE International Conference on Robotics and Automation (ICRA), 2024, Full paper -
@INPROCEEDINGS{barasuol24icra,
author = {Barasuol, Victor and Emre, Sinan and Suzano Medeiros, Vivian and Bratta, Angelo and Semini, Claudio},
title = {Introducing the Carpal-Claw: a Mechanism to Enhance High-Obstacle Negotiation for Quadruped Robots},
booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
year = {2024},
note = {accepted}

2023

S. Omar, L. Amatucci, G. Turrisi, V. Barasuol, C. Semini,  SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors
IEEE-RAS International Conference on Humanoid Robots, 2023, View at Publisher - Full paper - Video - Project -
@INPROCEEDINGS{omar23humanoids,
author = {Omar, Shafeef and Amatucci, Lorenzo and Turrisi, Giulio and Barasuol, Victor and Semini, Claudio},
title = {SafeSteps: Learning Safer Footstep Planning Policies for Legged Robots via Model-Based Priors},
booktitle={IEEE-RAS International Conference on Humanoid Robots},
year = {2023},
doi = {10.1109/Humanoids57100.2023.1037521}}
J. Gamba, P. Arpenti, F. Ruggiero, C. Semini, An Effective Robotic End-Effector Engagement Approach for Automated Grapevine Pruning on a Quadrupedal Manipulator
Italian Conference on Robotics and Intelligent Machines (I-RIM), 2023, Full paper - BIBTEX Citation
@INPROCEEDINGS{gamba23irim,
author = {Gamba, Juan D. and Arpenti, Pierluigi. and Ruggiero, Fabio and Semini, Claudio},
BOOKTITLE = {I-RIM Conference},
TITLE = {An Effective Robotic End-Effector Engagement Approach for Automated Grapevine Pruning on a Quadrupedal Manipulator},
YEAR = {2023}
}
R. Parosi, M. Risiglione, D.G. Caldwell, C. Semini and V. Barasuol, Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, View at Publisher - Full paper - Video - BIBTEX Citation
@INPROCEEDINGS{parosi23iros,
author = {Parosi, Riccardo and Risiglione, Mattia and Caldwell, Darwin G. and Semini, Claudio and Barasuol, Victor},
title = {Kinematically-Decoupled Impedance Control for Fast Object Visual Servoing and Grasping on Quadruped Manipulators},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2023},
doi={10.1109/IROS55552.2023.10341714},
}
I. Taouil, G. Turrisi, D. Schleich, V. Barasuol, C. Semini, and S. Behnke, Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, View at Publisher - Full paper - Video - BIBTEX Citation
@INPROCEEDINGS{taouil23iros,
author = {Taouil, Ilyass and Turrisi, Giulio and Schleich, Daniel and Barasuol, Victor and Semini, Claudio and Behnke, Sven},
title = {Quadrupedal Footstep Planning using LearnedMotion Models of a Black-Box Controller},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems ({IROS})},
year = {2023},
doi={10.1109/IROS55552.2023.10342440},
}
V. Barasuol, M. Villa, M. Marchitto, G. Cerilli, and C. Semini, Controlled Sliding Locomotion for Legged Rovers on Steep Terrain During Space Exploration
17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{barasuol23astra,
author = {Barasuol, Victor and Villa, Matteo and Marchitto, Marco and Cerilli, Gianluca and Semini, Claudio},
title = {Controlled Sliding Locomotion for Legged Rovers on Steep Terrain During Space Exploration},
booktitle={17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
year = {2023},
}
M. Focchi, F. Roscia, C. Semini, Locosim: an Open-Source Cross-Platform Robotics Framework
Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems,
@INPROCEEDINGS{focchi23clawar,
author = {Focchi, Michele and Roscia, Francesco and Semini, Claudio},
title = {Locosim: an Open-Source Cross-PlatformRobotics Framework},
booktitle={Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems},
year = {2024},
pages={395--406},
doi = {10.1007/978-3-031-47272-5_33}
}
V. Barasuol, S. Emre, C. Semini, Stair-Climbing Charts: on the optimal body height for quadruped robots to walk on stairs
Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems,
@INPROCEEDINGS{barasuol23clawar,
author = {Barasuol, Victor and Emre, Sinan and Semini, Claudio},
title = {Stair-Climbing Charts: on the optimal body height for quadruped robots to walk on stairs},
booktitle={Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems},
year = {2024},
pages= {251--262},
doi = {10.1007/978-3-031-47269-5_24}
}
L. Milburn, J. D. Gamba, M. Fernandes, C. Semini, Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots
IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), 2023, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{milburn23icarsc,
author = {Milburn, Lee and Gamba, Juan and Fernandes, Miguel and Semini, Claudio},
title = {Computer-Vision Based Real Time Waypoint Generation for Autonomous Vineyard Navigation with Quadruped Robots},
booktitle={IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)},
year = {2023},
pages={239-244},
doi={10.1109/ICARSC58346.2023.10129563},
}
D. Ordoñez-Apraez, M. Martin, A. Agudo, F. Moreno-Noguer, On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis
Robotics: Science and Systems Conference (RSS), 2023, View at Publisher - Full paper - Project - Video -
@INPROCEEDINGS{ordonez23rss,
author = {Ordoñez-Apraez, Daniel and Martin, Mario and Agudo, Antonio and Moreno-Noguer, Francesc},
title = {On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis},
publisher = {{IEEE/RSS} Robotics: Science and Systems Conference (RSS)},
year = {2023},
}


2022

L. Milburn, J. Gamba, C. Semini, Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots
Italian Conference on Robotics and Intelligent Machines (I-RIM), 2022, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{milburn22irim,
author = {Milburn, Lee and Gamba, Juan and Semini, Claudio},
BOOKTITLE = {I-RIM Conference},
TITLE = {Towards Computer-Vision Based Vineyard Navigation for Quadruped Robots},
YEAR = {2022},
PAGES={148-151},
DOI={10.5281/zenodo.7531328},
}
S. Omar, L. Amatucci, G. Turrisi, V. Barasuol, C. Semini, Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion
Italian Conference on Robotics and Intelligent Machines (I-RIM), 2022, View at Publisher - Full paper -
@INPROCEEDINGS{omar22irim,
author = {Omar, Shafeef and Amtucci, Lorenzo and Turrisi, Giulio and Barasuol, Victor and Semini, Claudio},
BOOKTITLE = {I-RIM Conference},
TITLE = {Fast Convex Visual Foothold Adaptation for Quadrupedal Locomotion},
YEAR = {2022},
PAGES={143-146},
DOI={110.5281/zenodo.7531324},
}
M. Risiglione, V. Barasuol, D.G. Caldwell, C. Semini, A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022, View at Publisher - Full paper - Video -
@INPROCEEDINGS{risiglione22iros,
author = {Risiglione, Mattia and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
title = {A Whole-Body Controller Based on a Simplified Template for Rendering Impedances in Quadruped Manipulators},
publisher = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems (IROS)},
year = {2022},
pages = {9620-9627},
doi = {10.1109/IROS47612.2022.9981895}}
A. Dettmann, S. Planthaber, V. Bargsten, R. Dominguez, G. Cerilli, M. Marchitto, G. Fink, M. Focchi, V. Barasuol, C. Semini, M. Robert, Towards a Generic Navigation and Locomotion Control System for Legged Space Exploration
16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2022, Full paper -
@INPROCEEDINGS{dettmann22astra,
AUTHOR = {Dettmann, Alexander and Planthaber, Steffen and Bargsten, Vinzenz and Dominguez, Raul and Cerilli, Gianluca and Marchitto, Marco and Fink, Geoff and Focchi, Michele and Barasuol, Victor and Semini, Claudio and Marc, Robert},
BOOKTITLE = {16th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)},
TITLE = {Towards a Generic Navigation and Locomotion Control System for Legged Space Exploration},
YEAR = {2022},
}
L. Amatucci, J. Kim, J. Hwangbo, H. Park, Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control
IEEE International Conference on Robotics and Automation (ICRA), 2022, View at Publisher - Full paper -
@INPROCEEDINGS{9812421,
AUTHOR = {Amatucci, Lorenzo and Kim, Joon-Ha and Hwangbo, Jemin and Park, Hae-Won},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
TITLE = {Monte Carlo Tree Search Gait Planner for Non-Gaited Legged System Control},
YEAR = {2022},
PAGES={4701-4707},
DOI={10.1109/ICRA46639.2022.9812421},
}
L. Clemente, O.Villarreal, A. Bratta, M. Focchi, V. Barasuol, G. Muscolo, C. Semini, Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots,
IEEE International Conference on Robotics and Automation (ICRA), 2022, View at Publisher - Full paper - Video -
@INPROCEEDINGS{clemente22icra,
AUTHOR = {Clemente, L. and Villarreal, O. and Bratta, A. and Focchi, M. and Barasuol, V. and Muscolo, G. and Semini, C.},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
TITLE = {Foothold Evaluation Criterion for Dynamic Transition Feasibility for Quadruped Robots},
YEAR = {2022},
}


2021

C. Semini, A. Bratta, M. Focchi, M. Gatti, S. Poni, V. Barasuol, First Field Tests of a Legged Robot in a Vineyard,
Italian Conference on Robotics and Intelligent Machines (I-RIM), 2021, - Full paper - Video - BIBTEX Citation
@INPROCEEDINGS{semini21irim,
AUTHOR = {Semini, Claudio and Bratta, Angelo and Focchi, Michele and Gatti, Matteo and Poni, Stefano and Barasuol, Victor},
BOOKTITLE = {I-RIM Conference}
TITLE = {First Field Tests of a Legged Robot in a Vineyard},
YEAR = {2021},
}
A. Bratta, N. Rathod, M. Zanon, O. Villarreal, A. Bemporad, C. Semini, M. Focchi, Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain,
Italian Conference on Robotics and Intelligent Machines (I-RIM), 2021, - Full paper - Video - BIBTEX Citation
@INPROCEEDINGS{semini21irim,
AUTHOR = {Bratta, Angelo and Rathod, Niraj and Zanon, Mario and Villarreal, Octavio and Bemporad, Alberto and Semini, Claudio and Focchi, Michele},
BOOKTITLE = {I-RIM Conference}
TITLE = {Towards a Nonlinear Model Predictive Control for Quadrupedal Locomotion on Rough Terrain},
YEAR = {2021},
}
M. Fernandes, A. Scaldaferri, G. Fiameni, T. Teng, M. Gatti, S. Poni, C. Semini, D.G. Caldwell, F. Chen, Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation,
IEEE Cyber, 2021, winner of the best student paper award, View at Publisher - Full paper -
@INPROCEEDINGS{fernandes21cyber,
AUTHOR = {Fernandes, M. and Scaldaferri, A. and Fiameni, G. and Teng, T. and Gatti, M. and Poni, S. and Semini, C. and Caldwell, D.G. and Chen, F.},
BOOKTITLE = {IEEE Cyber},
TITLE = {Grapevine Winter Pruning Automation: On Potential Pruning Points Detection through 2D Plant Modeling using Grapevine Segmentation},
YEAR = {2021},
DOI = {10.1109/CYBER53097.2021.9588303}
}
T. Teng, M. Fernandes, M. Gatti, S. Poni, C. Semini, D.G. Caldwell, F. Chen, Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation,
IEEE International Conference on Advanced Robotics and Mechatronics (ICARM), 2021, finalist for best paper award, View at Publisher - BIBTEX Citation
@INPROCEEDINGS{teng21icarm,
AUTHOR = {Teng, T. and Fernandes, M. and Gatti, M. and Poni, S. and Semini, C. and Caldwell, D.G. and Chen, F.},
BOOKTITLE = {IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)},
TITLE = {Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation},
YEAR = {2021},
}
P. Guadagna, T. Frioni, F. Chen, A. Incerti Delmonte, T. Teng, M. Fernandes, A. Scaldaferri, C. Semini, S. Poni, M. Gatti, Fine-tuning and testing of a pre-trained DNN for detecting pruning regions of spur-pruned grapevines,
European Conference on Precision Agriculture (ECPA), 2021, View at Publisher -
@INPROCEEDINGS{guadagna21ecpa,
AUTHOR = {Guadagna, P. and Frioni, T. and Chen, F. and Delmonte Incerti, A. and Teng, T. and Fernandes, M. and Scaldaferri, A. and Semini, C. and Poni, S. and Gatti, M.},
BOOKTITLE = {European Conference on Precision Agriculture (ECPA)},
TITLE = {Fine-tuning and testing of a pre-trained DNN for detecting pruning regions of spur-pruned grapevines},
YEAR = {2021}
}


2020

A. Abdalla, M. Focchi, R. Orsolino, C. Semini, The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion
Italian Conference on Robotics and Intelligent Machines (I-RIM), 2020, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{abdalla20irim,
author = {Abdalla Abdelrahman and Focchi, Michele and Orsolino, Romeo and Semini, Claudio},
title = {The Reachable Region: a Fast Kinematic Feasibility Criterion for Legged Locomotion},
booktitle={I-RIM Conference},
year = {2020},
}
C. Gonzalez, V. Barasuol, M. Frigerio, R. Featherstone, D.G. Caldwell, C. Semini, Line Walking and Balancing for Legged Robots with Point Feet,
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{gonzalez20iros,
AUTHOR = {Gonzalez, Carlos and Barasuol, Victor and Frigerio, Marco and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {Line Walking and Balancing for Legged Robots with Point Feet},
YEAR = {2020},
}
G. Fink and C. Semini, Proprioceptive Sensor Fusion for Quadruped Robot State Estimation,
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{fink20iros,
AUTHOR = {Fink, Geoff and Semini, Claudio},
BOOKTITLE = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
TITLE = {Proprioceptive Sensor Fusion for Quadruped Robot State Estimation},
PAGES = {1--7},
ADDRESS = {Las Vegas, Nevada},
MONTH = {Oct.},
YEAR = {2020, accepted},
}
D. Esteban, O. Villarreal, S. Fahmi, C. Semini and V. Barasuol, On the Influence of Body Velocity in Foothold Adaptations for Dynamic Legged Locomotion via CNNs,
International Conference on Climbing and Walking Robots (CLAWAR), 2020, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{esteban20clawar,
AUTHOR = {Esteban, Domingo and Villarreal, Octavio and Fahmi, Shamel and Semini, Claudio and Barasuol, Victor},
BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},
TITLE = {{On the Influence of Body Velocity in Foothold Adaptation for Dynamic Legged Locomotion via CNNs}},
PAGES = {353-360},
ADDRESS = {Moscow, Russia},
MONTH = {Aug.},
YEAR = {2020, accepted},
}
G. Fink and C. Semini, The DLS Quadruped Proprioceptive Sensor Dataset,
International Conference on Climbing and Walking Robots (CLAWAR), 2020, View at Publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{fink20clawar,
AUTHOR = {Fink, Geoff and Semini, Claudio},
BOOKTITLE = {International Conference on Climbing and Walking Robots ({CLAWAR})},
TITLE = {The {DLS} Quadruped Proprioceptive Sensor Dataset},
PAGES = {1--8},
ADDRESS = {Moscow, Russia},
MONTH = {Aug.},
YEAR = {2020, accepted},
}
A. Bratta, R. Orsolino, M. Focchi, V. Barasuol, G.G. Muscolo and C. Semini, On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics , IEEE International Conference on Robotics and Automation (ICRA), 2020, View at publisher - Full Paper - Video - BIBTEX Citation
@InProceedings{Bratta2020,
Title = {On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics},
Author = {Angelo {Bratta}, Romeo {Orsolino}, Michele {Focchi}, Victor {Barasuol}, Giovanni Gerardo {Muscolo} and Claudio {Semini}},
Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
Year = {2020},
Month = May,
Pages = {XXXX--XXXX},
Doi = {XXXXXXXXX},
Address = {Paris, France},
}
O. Villarreal, V. Barasuol, P. Wensing and C. Semini, MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion, IEEE International Conference on Robotics and Automation (ICRA), 2020, View at publisher - Full Paper - Video - BIBTEX Citation
@InProceedings{Villarreal2020,
Title = {MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion},
Author = {Octavio {Villarreal} and Victor {Barasuol} and Patrick {Wensing} and Claudio {Semini}},
Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
Year = {2020},
Month = May,
Pages = {XXXX--XXXX},
Doi = {XXXXXXXXX},
Address = {Paris, France},
}
G. Urbain, V. Barasuol, C. Semini, J. Dambre and F. wyffels, Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot, IEEE International Conference on Robotics and Automation (ICRA), 2020.
Full Paper - View at publisher - BIBTEX Citation
@InProceedings{Urbain2020,
Title = {Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot},
Author = {Gabriel {Urbain}, Victor {Barasuol}, Claudio {Semini}, Joni {Dambre} and Francis {wyffels}},
Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
Year = {2020},
Month = May,
Pages = {XXXX--XXXX},
Doi = {XXXXXXXXX},
Address = {Paris, France},
}

 

2019

C. Semini, V. Barasuol, M. Focchi, C. Boelens, M. Emara, S. Casella, O. Villarreal, R. Orsolino, G. Fink, S. Fahmi, G. Medrano-Cerda, D. Sangiah, J. Lesniewski, K. Fulton, M. Donadon, M. Baker, D. G. Caldwell, Brief introduction to the quadruped robot HyQReal
International Conference on Robotics and Intelligent Machines (I-RIM), 2019 - Full paper - BIBTEX Citation
@INPROCEEDINGS{semini2019,
AUTHOR = {Claudio Semini and Victor Barasuol and Michele Focchi and Chundri Boelens and Mohamed Emara and Salvatore Casella and Octavio Villarreal and Romeo Orsolino and Geoff Fink and Shamel Fahmi and Gustavo Medrano-Cerda and Dhinesh Sangiah and Jack Lesniewski and Kyle Fulton and Michel Donadon and Mike Baker and Darwin G. Caldwell},
BOOKTITLE = {Italian Conference on Robotics and Intelligent Machines {(I-RIM)}}
TITLE = {Brief introduction to the quadruped robot {HyQReal}},
YEAR = {2019},
MONTH = {Oct},
PAGES = {1--2},
ADDRESS = {Rome},
}
V. Barasuol, G. Fink, M. Focchi, D. G. Caldwell, C. Semini, On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots
International Conference on Climbing and Walking Robots (CLAWAR), 2019 - Full paper - Video - BIBTEX Citation
@INPROCEEDINGS{barasuol19clawar,
AUTHOR = {V. Barasuol and G. Fink and M. Focchi and D. G. Caldwell and C. Semini},
BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},
TITLE = {On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots},
YEAR = {2019},
MONTH = {Oct},
}
A. Reinke, M. Camurri, C. Semini, A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots
2019 Third IEEE International Conference on Robotic Computing (IRC)- View at publisher - BIBTEX Citation
@INPROCEEDINGS{8675635,
AUTHOR = {A. {Reinke} and M. {Camurri} and C. {Semini},
BOOKTITLE = {2019 Third IEEE International Conference on Robotic Computing (IRC)},
TITLE = {A Factor Graph Approach to Multi-Camera Extrinsic Calibration on Legged Robots},
YEAR = {2019},
VOLUME = {},
NUMBER = {},
PAGES = {391-394},
}

 

2017

E. Heijmink, A. Radulescu, V. Barasuol, D. G. Caldwell, C. Semini, Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion
12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017, 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{heijmink17humanoids,
AUTHOR = {Heijmink, Elco and Radulescu, Andreea and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2017},
TITLE = {Learning Optimal Gait Parameters and Impedance Profiles for Legged Locomotion},
YEAR = {2017},
}
M. Focchi, R. Featherstone, R. Orsolino, D. G. Caldwell, C. Semini, Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 - Full paper - Video -
@INPROCEEDINGS{focchi17iros,
AUTHOR = {Focchi, Michele and Featherstone, Roy and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {Viscosity-based Height Reflex for Workspace Augmentation for Quadrupedal Locomotion on Rough Terrain},
YEAR = {2017},
}
G. Tournois, M. Focchi, A. del Prete, R. Orsolino, D. G. Caldwell, C. Semini, Online Payload Identification for Quadruped Robots
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{tournois17iros,
AUTHOR = {Tournois, Guido and Focchi, Michele and del Prete, Andrea and Orsolino, Romeo and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {Online Payload Identification for Quadruped Robots},
YEAR = {2017},
}
J. Koivumaki, J. Mattila, C. Semini, D. G. Caldwell, Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures
ASME Symposium on Fluid Power and Motion Control (FPMC), 2017 - BIBTEX Citation
@INPROCEEDINGS{koivumaki17fpmc,
AUTHOR = {Koivumaki, J. and Mattila, J. and Semini, Claudio and Caldwell, Darwin G.},
BOOKTITLE = {ASME Symposium on Fluid Power and Motion Control (FPMC)},
TITLE = {Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures},
YEAR = {2017},
}
Y. Gao, V. Barasuol, D. G. Caldwell, C. Semini, Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs
International Conference on Advanced Robotics and Mechatronics (ICARM), 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{gao17icarm,
AUTHOR = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {International Conference on Advanced Robotics and Mechatronics (ICARM)},
TITLE = {Kinematic Design of a Configurable Terrain Simulator Platform for Robotic Legs},
YEAR = {2017},
}
M. Frigerio, V. Barasuol, M. Focchi, D. G. Caldwell, C. Semini, Validation of Computer Simulations of the HyQ robot
International Conference on Climbing and Walking Robots (CLAWAR), 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{frigerio17clawar,
AUTHOR = {Frigerio, Marco and Barasuol, Victor and Focchi, Michiele and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},
TITLE = {Validation of Computer Simulations of the HyQ robot},
YEAR = {2017},
}
S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. G. Caldwell, C. Semini, M. Fallon, Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots
Proceedings of Robotics: Science and Systems, 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{nobili_camurri2017rss,
AUTHOR = {Nobili, S. and Camurri, M. and Barasuol, V. and Focchi, M. and Caldwell, D. G. and Semini, C. and Fallon, M.},
TITLE = {Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots},
BOOKTITLE = {Proceedings of Robotics: Science and Systems},
YEAR = {2017},
ADDRESS = {Boston, USA},
MONTH = {July},
}
B. U. Rehman, D. G. Caldwell, C. Semini, Centaur Robots - a Survey
International Conference on Climbing and Walking Robots (CLAWAR), 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{rehman17clawar,
AUTHOR = {Rehman, Bilal U and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},
TITLE = {Centaur Robots - a Survey},
YEAR = {2017},
}
R. Orsolino, M. Focchi, D. G. Caldwell, C. Semini, A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding
International Conference on Climbing and Walking Robots (CLAWAR), 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{orsolino17clawar,
AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},
TITLE = {A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding},
YEAR = {2017},
}
C. Mastalli, M. Focchi, I. Havoutis, A. Radulescu, S. Calinon, J. Buchli, D. G. Caldwell, C. Semini, Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion
IEEE International Conference on Robotics and Automation (ICRA), 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{mastalli17icra,
AUTHOR = {Mastalli, Carlos and Focchi, Michele and Havoutis, Ioannis and Radulescu, Andreea and Calinon, Sylvain and Buchli, Jonas and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
TITLE = {Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion},
YEAR = {2017},
}
A. Radulescu, I. Havoutis, D. G. Caldwell, C. Semini, Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems
IEEE International Conference on Robotics and Automation (ICRA), 2017 - Full paper - BIBTEX Citation
@INPROCEEDINGS{radulescu17icra,
AUTHOR = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Whole-body Trajectory Optimization for Non-periodic Dynamic Motions on Quadrupedal Systems},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
YEAR = {2017},
}

 

2016

M. Neunert, M. Giftthaler, M. Frigerio, C. Semini, J. Buchli, Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation
IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), 2016 - Full paper - BIBTEX Citation
@INPROCEEDINGS{neunert16simpar,
AUTHOR = {Neunert, Michael and Giftthaler, Markus and Frigerio, Marco and Semini, Claudio and Buchli, Jonas},
TITLE = {Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation},
BOOKTITLE = {IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR)},
YEAR = {2016},
}
Y. Gao, V. Barasuol, D. G. Caldwell, C. Semini, Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability
IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO), 2016 - Full paper - BIBTEX Citation
@INPROCEEDINGS{gao16robio,
AUTHOR = {Gao, Yifu and Barasuol, Victor and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Study on the Morphological Parameters of Quadruped Robot Designs Considering Ditch Traversability},
BOOKTITLE = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)},
YEAR = {2016},
}
B. U. Rehman, M. Focchi, J. Lee, H. Dallali, D. G. Caldwell, C. Semini, Towards a Multi-legged Mobile Manipulator
IEEE International Conference on Robotics and Automation (ICRA), 2016, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{icra16brehman,
AUTHOR = {Rehman, Bilal U and Focchi, Michele and Lee, Jinoh and Dallali, Houman and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
TITLE = {Towards a Multi-legged Mobile Manipulator},
MONTH = {May},
PUBLISHER = {IEEE},
YEAR = {2016},
DOI = {10.1109/ICRA.2016.7487545},
}
H. Kuwahara, F. Terai, M. Focchi, G. A. Medrano-Cerda, D. G. Caldwell, C. Semini, A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers
IEEE International Workshop on Advanced Motion Control (AMC), 2016, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{kuwahara16acm,
AUTHOR = {Kuwahara, Hiroaki and Terai, Fujio and Focchi, Michele and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE International Workshop on Advanced Motion Control (AMC)},
TITLE = {A Design Method of A Robust Controller for Hydraulic Actuation with Disturbance Observers},
MONTH = {april},
PUBLISHER = {IEEE},
YEAR = {2016},
DOI = {10.1109/AMC.2016.7496365},
}
C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences
IEEE International Conference on Robotics and Automation (ICRA), 2016, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{icra16mastalli,
AUTHOR = {Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
TITLE = {Hierarchical Planning of Dynamic Movements without Scheduled Contact Sequences},
MONTH = {May},
PUBLISHER = {IEEE},
YEAR = {2016},
DOI = {10.1109/ICRA.2016.7487664},
}

 

2015

X. Liu, C. Semini, I. Poulakakis, Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ
IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{liu15robio,
AUTHOR = {Liu, Xin and Semini, Claudio and Poulakakis, Ioannis},
BOOKTITLE = {IEEE/RSJ International Conference on Robotics and Biomimetics (ROBIO)},
TITLE = {Active Compliance Hybrid Zero Dynamics Control of Bounding on HyQ},
YEAR = {2015},
MONTH = {December},
DOI = {10.1109/ROBIO.2015.7418910},
}
I. Havoutis, D. G. Caldwell, C. Semini, Lidar-based navigation-level path planning for field-capable legged robots
International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{havoutis15clawar,
AUTHOR = {Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},
TITLE = {Lidar-based navigation-level path planning for field-capable legged robots},
YEAR = {2015},
MONTH = {December},
URL = {http://www.worldscientific.com/worldscibooks/10.1142/9820},
}
C. Semini, J. Goldsmith, D. Manfredi, F. Calignano, E. Ambrosio, J. Pakkanen, D. Caldwell, Additive manufacturing for agile legged robots with hydraulic actuation
International Conference on Advanced Robotics (ICAR), 123-129, 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{semini15icar,
AUTHOR = {Semini, C. and Goldsmith, J. and Manfredi, D. and Calignano, F. and Ambrosio, E.P. and Pakkanen, J. and Caldwell, D.G.},
BOOKTITLE = {International Conference on Advanced Robotics (ICAR)},
TITLE = {Additive manufacturing for agile legged robots with hydraulic actuation},
YEAR = {2015},
PAGES = {123-129},
KEYWORDS = {hydraulic systems;industrial robots;laser sintering;legged locomotion;rapid prototyping (industrial);DMLS;HyQ2Max;additive manufacturing;agile legged robots;direct metal laser sintering;hydraulic actuation;hydraulic quadruped robot;versatile legged robots;Electron tubes;Legged locomotion;Manifolds;Metals;Powders},
DOI = {10.1109/ICAR.2015.7251444},
MONTH = {July},
}
M. Camurri, S. Bazeille, D. Caldwell, C. Semini, Real-time depth and inertial fusion for local SLAM on dynamic legged robots
IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 259-264, 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{camurri15mfi,
AUTHOR = {Camurri, M. and Bazeille, S. and Caldwell, D.G. and Semini, C.},
BOOKTITLE = {IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
TITLE = {Real-time depth and inertial fusion for local SLAM on dynamic legged robots},
YEAR = {2015},
PAGES = {259-264},
DOI = {10.1109/MFI.2015.7295818},
MONTH = {Sept},
}
M. Focchi, V. Barasuol, M. Frigerio, D. G. Caldwell, C. Semini, Slip Detection and Recovery for Quadruped Robots
International Symposium on Robotics Research (ISRR), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{focchi15isrr,
BOOKTITLE = {International Symposium on Robotics Research (ISRR)},
AUTHOR = {Focchi, Michele and Barasuol, Victor and Frigerio, Marco and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Slip Detection and Recovery for Quadruped Robots},
YEAR = {2015},
URL = {http://www.springer.com/it/book/9783319609157?wt_mc=Internal.Event.1.SEM.ChapterAuthorCongrat},
}
B. U. Rehman, M. Focchi, M. Frigerio, J. Goldsmith, D. G. Caldwell, C. Semini, Design of a Hydraulically Actuated Arm for a Quadruped Robot
Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{rehman15clawar,
AUTHOR = {Rehman, Bilal U and Focchi, Michele and Frigerio, Marco and Goldsmith, Jake and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Design of a Hydraulically Actuated Arm for a Quadruped Robot},
BOOKTITLE = {Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR)},
YEAR = {2015},
URL = {http://www.worldscientific.com/worldscibooks/10.1142/9820},
}
C. Semini, J. Goldsmith, B. U. Rehman, M. Frigerio, V. Barasuol, M. Focchi, D. G. Caldwell, Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur
14th Scandinavian International Conference on Fluid Power (SICFP), 2015 - Full paper - BIBTEX Citation
@INPROCEEDINGS{semini15sicfp,
AUTHOR = {Semini, Claudio and Goldsmith, Jake and Rehman, Bilal U and Frigerio, Marco and Barasuol, Victor and Focchi, Michele and Caldwell, Darwin G.},
TITLE = {Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur},
BOOKTITLE = {14th Scandinavian International Conference on Fluid Power (SICFP)},
YEAR = {2015},
}
H. Khan, S. Kitano, M. Frigerio, M. Camurri, V. Barasuol, R. Featherstone, D. G. Caldwell, C. Semini, Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ
IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{khan15tepra,
AUTHOR = {Khan, Hamza and Kitano, Satoshi and Frigerio, Marco and Camurri, Marco and Barasuol, Victor and Featherstone, Roy, and Caldwell, Darwin G. and Semini, Claudio },
BOOKTITLE = {IEEE International Conference on Technologies for Practical Robot Applications (TEPRA)},
TITLE = {Development of the Lightweight Hydraulic Quadruped Robot - MiniHyQ},
MONTH = {May},
YEAR = {2015},
DOI = {10.1109/TePRA.2015.7219671},
}
C. Mastalli, A. Winkler, I. Havoutis, D. G. Caldwell, C. Semini, On-line and On-board Planning and Perception for Quadrupedal Locomotion
IEEE International Conference on Technologies for Practical Robot Applications (TEPRA), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{mastalli15tepra,
AUTHOR = {Mastalli, Carlos and Winkler, Alexander and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {IEEE International Conference on Technologies for Practical Robot Applications (TEPRA)},
TITLE = {On-line and On-board Planning and Perception for Quadrupedal Locomotion},
MONTH = {May},
DOI = {10.1109/TePRA.2015.7219685},
YEAR = {2015},
}
A. Winkler, C. Mastalli, I. Havoutis, M. Focchi, D. G. Caldwell, C. Semini, Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain
IEEE International Conference on Robotics and Automation (ICRA), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{winkler15icra,
AUTHOR = {Winkler, Alexander and Mastalli, Carlos and Havoutis, Ioannis and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
MONTH = {May},
DOI = {10.1109/ICRA.2015.7139916},
YEAR = {2015},
}
H. Khan, F. Cannella, D. Caldwell, C. Semini, An innovative torque sensor design for the lightest hydraulic quadruped robot
International Conference on Climbing and Walking Robots (CLAWAR), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{khan15clawar,
AUTHOR = {Khan, Hamza and Cannella, Ferdinando and Caldwell, Darwin and Semini, Claudio},
TITLE = {An innovative torque sensor design for the lightest hydraulic quadruped robot},
BOOKTITLE = {International Conference on Climbing and Walking Robots (CLAWAR)},
YEAR = {2015},
URL = {http://www.worldscientific.com/worldscibooks/10.1142/9820},
}
H. Khan, R. Featherstone, D. G. Caldwell, C. Semini, Bio-inspired Knee Joint Mechanism for a Hydraulic Quadruped Robot
International Conference on Automation, Robotics and Applications (ICARA), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{khan15icara,
TITLE = {Bio-inspired Knee Joint Mechanism for a Hydraulic Quadruped Robot},
AUTHOR = {Khan, Hamza and Featherstone, Roy and Caldwell, Darwin G. and Semini, Claudio},
BOOKTITLE = {International Conference on Automation, Robotics and Applications (ICARA)},
YEAR = {2015},
DOI = {10.1109/ICARA.2015.7081168},
}
H. Khan, K. Satoshi, D. G. Caldwell, C. Semini, Development of a lightweight on-board hydraulic system for a quadruped robot
14th Scandinavian International Conference on Fluid Power (SICFP), 2015 - Full paper - BIBTEX Citation
@INPROCEEDINGS{khan15sicfp,
TITLE = {Development of a lightweight on-board hydraulic system for a quadruped robot},
AUTHOR = {Khan, Hamza and Satoshi, Kitano and Caldwell, Darwin G. and Semini, Claudio },
BOOKTITLE = {14th Scandinavian International Conference on Fluid Power (SICFP)},
YEAR = {2015},
}
V. Barasuol, M. Camurri, S. Bazeille, D. Caldwell, C. Semini, Reactive Trotting with Foot Placement Corrections through Visual Pattern Classification
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{barasuol15iros,
TITLE = {Reactive Trotting with Foot Placement Corrections through Visual Pattern Classification},
AUTHOR = {Barasuol, Victor and Camurri, Marco and Bazeille, Stephane and Caldwell, Darwin and Semini, Claudio},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
MONTH = {10},
YEAR = {2015},
DOI = {10.1109/IROS.2015.7354191},
}

 

2014

A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, D. G. Caldwell, C. Semini, Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots
IEEE International Conference on Robotics and Automation (ICRA), 2014, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{winkler14icra,
AUTHOR = {Winkler, Alexander and Havoutis, Ioannis and Bazeille, Stephane and Ortiz, Jesus and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots},
BOOKTITLE = {IEEE International Conference on Robotics and Automation (ICRA)},
YEAR = {2014},
DOI = {10.1109/ICRA.2014.6907815},
}
S. Bazeille, M. Camurri, J. Ortiz, I. Havoutis, D. G. Caldwell, C. Semini, Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot
ICRA14 Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14), 2014, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{bazeille14icraw,
AUTHOR = {Bazeille, Stephane and Camurri, Marco and Ortiz, Jesus and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Terrain mapping with a pan and tilt stereo camera for locomotion on a quadruped robot},
BOOKTITLE = {ICRA14 Workshop on Modelling, Estimation, Perception and Control of All Terrain Mobile Robots (WMEPC14)},
YEAR = {2014},
DOI = {10.1007/s11370-014-0147-9},
}

 

2013

T. Boaventura, G. Medrano-Cerda, C. Semini, J. Buchli, D. G. Caldwell, {Stability and performance of the compliance controller of the quadruped robot HyQ}
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1458-1464, 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{boaventura13iros,
AUTHOR = {Boaventura, T. and Medrano-Cerda, G.A. and Semini, C. and Buchli, J. and Caldwell, Darwin G.},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {{Stability and performance of the compliance controller of the quadruped robot HyQ}},
YEAR = {2013},
MONTH = {Nov},
PAGES = {1458-1464},
KEYWORDS = {compliance control;legged locomotion;stability;actuator bandwidth;cascade compliance controller;compliant behavior;compliant legged robot;contact point;environmental contacts;foot compliance;nested torque loop performance;passivity;quadruped robot HyQ;robot leg;stability analysis;virtual impedances;Actuators;Bandwidth;Damping;Legged locomotion;Springs;Torque},
DOI = {10.1109/IROS.2013.6696541},
ISSN = {2153-0858},
}
S. Zapoilsky, E. Drumwright, I. Havoutis, J. Buchli, C. Semini, Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces
16th International Conference on Climbing and Walking Robots (CLAWAR), 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{zapoilsky2013clawar,
AUTHOR = {Zapoilsky, Samuel and Drumwright, Evan and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio},
TITLE = {Inverse Dynamics for a Quadruped Robot Locomoting Along Slippery Surfaces},
BOOKTITLE = {16th International Conference on Climbing and Walking Robots (CLAWAR)},
YEAR = {2013},
ADDRESS = {Sydney, Australia},
MONTH = {July},
PUBLISHER = {World Scientific Publishing Company},
__MARKEDENTRY = {[mfocchi:6]},
OWNER = {mfocchi},
TIMESTAMP = {2014.11.24},
URL = {http://www.worldscientific.com/worldscibooks/10.1142/8913},
}
H. Khan, C. Semini, V. Barasuol, D. G. Caldwell, Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots
Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013 - Full paper - BIBTEX Citation
@INPROCEEDINGS{khan13clawar,
TITLE = {Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots},
AUTHOR = {Khan, Hamza and Semini, Claudio and Barasuol, Victor and Caldwell, Darwin G.},
BOOKTITLE = {Int. Conf. on Climbing and Walking Robots (CLAWAR)},
YEAR = {2013},
}
B. Ugurlu, I. Havoutis, C. Semini, D. G. Caldwell, Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{ugurlu13iros,
AUTHOR = {Ugurlu, Barkan and Havoutis, Ioannis and Semini, Claudio and Caldwell, Darwin G.},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
TITLE = {Dynamic Trot-Walking with the Hydraulic Quadruped Robot - HyQ: Analytical Trajectory Generation and Active Compliance Control},
YEAR = {2013},
DOI = {10.1109/IROS.2013.6697234},
}
I. Havoutis, J. Ortiz, S. Bazeille, V. Barasuol, C. Semini, D. G. Caldwell, Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{havoutis13iros,
AUTHOR = {Havoutis, Ioannis and Ortiz, Jesus and Bazeille, Stephane. and Barasuol, Victor and Semini, Claudio and Caldwell, Darwin G.},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robotsand Systems (IROS)},
TITLE = {Onboard Perception-Based Trotting and Crawling with the Hydraulic Quadruped Robot (HyQ)},
YEAR = {2013},
DOI = {10.1109/IROS.2013.6697235},
}
I. Havoutis, C. Semini, J. Buchli, D. G. Caldwell, Quadrupedal trotting with active compliance
IEEE International Conference on Mechatronics (ICM), 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{havoutis13icm,
AUTHOR = {Havoutis, Ioannis and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Quadrupedal trotting with active compliance},
JOURNAL = {IEEE International Conference on Mechatronics (ICM)},
YEAR = {2013},
DOI = {10.1109/ICMECH.2013.6519112},
}
V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. De Pieri, D. G. Caldwell, A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain
IEEE International Conference on Robotics and Automation (ICRA), 2554-2561, 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{barasuol13icra,
AUTHOR = {Barasuol, Victor and Buchli, Jonas and Semini, Claudio and Frigerio, Marco and De Pieri, Edson Roberto and Caldwell, Darwin G.},
TITLE = {A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain},
JOURNAL = {IEEE International Conference on Robotics and Automation (ICRA)},
YEAR = {2013},
PAGES = {2554-2561},
MONTH = {5},
DOI = {10.1109/ICRA.2013.6630926},
OWNER = {vbarasuol},
TIMESTAMP = {2014.11.24},
}
C. Semini, V. Barasuol, M. Frigerio, T. Boaventura, J. Buchli, Is Active Impedance the Key to a Breakthrough for Legged Robots?
International Symposium on Robotics Research (ISRR), 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{semini13isrr,
AUTHOR = {Semini, Claudio and Barasuol, Victor and Frigerio, Marco and Boaventura, Thiago and Buchli, Jonas},
TITLE = {Is Active Impedance the Key to a Breakthrough for Legged Robots?},
BOOKTITLE = {International Symposium on Robotics Research (ISRR)},
YEAR = {2013},
OWNER = {csemini},
TIMESTAMP = {2014.04.24},
DOI = {10.1007/978-3-319-28872-7_1},
}
M. Hutter, M. Bloesch, J. Buchli, C. Semini, S. Bazeille, L. Righetti, J. Bohg, AGILITY-Dynamic full body locomotion and manipulation with autonomous legged robots
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 1--4, 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{hutter13agility,
TITLE = {AGILITY-Dynamic full body locomotion and manipulation with autonomous legged robots},
AUTHOR = {Hutter, Marco and Bloesch, Michael and Buchli, Jonas and Semini, Claudio and Bazeille, Stephane and Righetti, Ludovic and Bohg, Jeannette},
BOOKTITLE = {IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
PAGES = {1--4},
YEAR = {2013},
ORGANIZATION = {IEEE},
DOI = {10.1109/SSRR.2013.6719336},
}
M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini, D. G. Caldwell, Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion
Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{fXXXXXX013a,
AUTHOR = {Focchi, Michele and Barasuol, Victor and Havoutis, Ioannis and Buchli, Jonas and Semini, Claudio and Caldwell, Darwin G.},
TITLE = {Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion},
BOOKTITLE = {Int. Conf. on Climbing and Walking Robots (CLAWAR)},
YEAR = {2013},
__MARKEDENTRY = {[mfocchi:6]},
OWNER = {mfocchi},
TIMESTAMP = {2013.08.09},
URL = {http://www.worldscientific.com/worldscibooks/10.1142/8913},
}
S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, C. Semini, D. G. Caldwell, Vision enhanced reactive locomotion control for trotting on rough terrain
IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 1-6, 2013, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{bazeille13tepra,
AUTHOR = {Bazeille, S. and Barasuol, V. and Focchi, M. and Havoutis, I. and Frigerio, M. and Buchli, J. and Semini, C. and Caldwell, Darwin G.},
BOOKTITLE = {IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
TITLE = {Vision enhanced reactive locomotion control for trotting on rough terrain},
YEAR = {2013},
MONTH = {April},
PAGES = {1-6},
DOI = {10.1109/TePRA.2013.6556366},
ISSN = {2325-0526},
}

 

2012

T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, D. G. Caldwell, Dynamic Torque Control of a Hydraulic Quadruped Robot
IEEE International Conference in Robotics and Automation, 1889-1894, 2012, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{boaventura12icra,
AUTHOR = {Boaventura, Thiago and Semini, Claudio and Buchli, Jonas and Frigerio, Marco and Focchi, Michele and Caldwell, Darwin G.},
TITLE = {Dynamic Torque Control of a Hydraulic Quadruped Robot},
BOOKTITLE = {IEEE International Conference in Robotics and Automation},
YEAR = {2012},
PAGES = {1889-1894},
OWNER = {csemini},
TIMESTAMP = {2011.09.16},
DOI = {10.1109/ICRA.2012.6224628},
}
M. Frigerio, J. Buchli, D. G. Caldwell, Code Generation of Algebraic Quantities for Robot Controllers
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{frigerio12iros,
AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Code Generation of Algebraic Quantities for Robot Controllers},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
YEAR = {2012},
OPTIONS = {maxnames=7},
OWNER = {phd},
TIMESTAMP = {2014.01.09},
DOI = {10.1109/IROS.2012.6385694},
}
M. Focchi, T. Boaventura, C. Semini, M. Frigerio, J. Buchli, D. G. Caldwell, Torque-control Based Compliant Actuation of a Quadruped Robot
Proc. of the 12th IEEE Int. Workshop on Advanced Motion Control (AMC), 2012, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{focchi12acm,
AUTHOR = {Focchi, Michele and Boaventura, Thiago and Semini, Claudio and Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Torque-control Based Compliant Actuation of a Quadruped Robot},
BOOKTITLE = {Proc. of the 12th IEEE Int. Workshop on Advanced Motion Control (AMC)},
YEAR = {2012},
OWNER = {mfocchi},
TIMESTAMP = {2012.02.24},
DOI = {10.1109/AMC.2012.6197133},
}
C. Semini, H. Khan, M. Frigerio, T. Boaventura, M. Focchi, J. Buchli, D. G. Caldwell, Design and Scaling of Versatile Quadruped Robots
Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA, pp. 273-280, 2012, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{semini12clawar,
AUTHOR = {Semini, Claudio and Khan, Hamza and Frigerio, Marco and Boaventura, Thiago and Focchi, Michele and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Design and Scaling of Versatile Quadruped Robots},
JOURNAL = {Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Baltimore, USA},
YEAR = {2012},
PAGES = {pp. 273-280},
__MARKEDENTRY = {[mfocchi:6]},
OWNER = {mfocchi},
TIMESTAMP = {2014.11.24},
URL = {http://www.worldscientific.com/worldscibooks/10.1142/8546},
}
S. Peng, D. T. Branson, E. Guglielmino, T. Boaventura, D. G. Caldwell, Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg
Proceedings of the 11th Biennial Conference on Engineering Systems design and Analysis ESDA11, 2012, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{peng12,
AUTHOR = {Peng, Shuang and Branson, David T. and Guglielmino, Emanuele and Boaventura, Thiago and Caldwell, Darwin G.},
TITLE = {Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg},
BOOKTITLE = {Proceedings of the 11th Biennial Conference on Engineering Systems design and Analysis ESDA11},
YEAR = {2012},
OWNER = {tboaventura},
TIMESTAMP = {2012.03.11},
DOI = {10.1115/ESDA2012-82262},
}
T. Boaventura, M. Focchi, M. Frigerio, J. Buchli, C. Semini, G. A. Medrano-Cerda, D. G. Caldwell, On the role of load motion compensation in high-performance force control
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{boaventura12iros,
AUTHOR = {Boaventura, Thiago and Focchi, Michele and Frigerio, Marco and Buchli, Jonas and Semini, Claudio and Medrano-Cerda, Gustavo A. and Caldwell, Darwin G.},
TITLE = {On the role of load motion compensation in high-performance force control},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
YEAR = {2012},
OWNER = {tboaventura},
TIMESTAMP = {2012.07.12},
DOI = {10.1109/IROS.2012.6385953},
}

 

2010

M. {Focchi}, E. {Guglielmino}, C. {Semini}, A. {Parmiggiani}, N. {Tsagarakis}, B. {Vanderborght}, D. G. {Caldwell}, Water/air performance analysis of a fluidic muscle
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2194-2199, 2010, View at publisher - BIBTEX Citation
@INPROCEEDINGS{focchi10iros,
AUTHOR = {M. {Focchi} and E. {Guglielmino} and C. {Semini} and A. {Parmiggiani} and N. {Tsagarakis} and B. {Vanderborght} and D. G. {Caldwell}},
BOOKTITLE = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
TITLE = {Water/air performance analysis of a fluidic muscle},
YEAR = {2010},
VOLUME = {},
NUMBER = {},
PAGES = {2194-2199},
KEYWORDS = {flow control;fluidic devices;hydraulic systems;mobile robots;pneumatic actuators;pneumatic control equipment;water-air performance analysis;fluidic muscle;energetic point;higher bulk modulus;pressure bandwidth;force bandwidth;load variations;hydraulic stiff actuation system;hydraulic system pressure;water bulk modulus;unconventional pressure range;Muscles;Bandwidth;Valves;Force;Regulators;Robots;Pressure measurement},
DOI = {10.1109/IROS.2010.5650432},
ISSN = {2153-0866},
MONTH = {Oct},
}
M. {Focchi}, E. {Guglielmino}, C. {Semini}, T. {Boaventura}, Y. {Yang}, D. G. {Caldwell}, Control of a hydraulically-actuated quadruped robot leg
IEEE International Conference on Robotics and Automation, 4182-4188, 2010, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{icra10focchi,
AUTHOR = {M. {Focchi} and E. {Guglielmino} and C. {Semini} and T. {Boaventura} and Y. {Yang} and D. G. {Caldwell}},
BOOKTITLE = {IEEE International Conference on Robotics and Automation},
TITLE = {Control of a hydraulically-actuated quadruped robot leg},
YEAR = {2010},
VOLUME = {},
NUMBER = {},
PAGES = {4182-4188},
KEYWORDS = {hydraulic actuators;legged locomotion;mobile robots;motion control;hydraulically-actuated quadruped robot leg;autonomous quadruped robot;hip joints;knee joints;actuation system;proportional valves;asymmetric cylinders;PED controller;linear quadratic regulator;feedback linearisation controller;Legged locomotion;Leg;MIMO;Linear feedback control systems;Frequency;Biological system modeling;Biological control systems;Robots;Hip;Knee},
DOI = {10.1109/ROBOT.2010.5509697},
ISSN = {1050-4729},
MONTH = {May},
}
M. Focchi, E. Guglielmino, C. Semini, T. Boaventura, Y. Yang, D. G. Caldwell, Control of a Hydraulically-Actuated Quadruped Robot Leg
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{focchi10icra,
AUTHOR = {Focchi, Michele and Guglielmino, Emanuele and Semini, Claudio and Boaventura, Thiago and Yang, Yousheng and Caldwell, Darwin G.},
TITLE = {Control of a Hydraulically-Actuated Quadruped Robot Leg},
BOOKTITLE = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
YEAR = {2010},
OWNER = {CSemini},
TIMESTAMP = {2010.02.18},
DOI = {10.1109/ROBOT.2010.5509697},
}
C. Semini, N. G. Tsagarakis, E. Guglielmino, D. G. Caldwell, Design and Experimental Evaluation of a Hydraulically Actuated Robot Leg
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{semini10iros,
AUTHOR = {Semini, Claudio and Tsagarakis, Nikos G. and Guglielmino, Emanuele and Caldwell, Darwin G.},
TITLE = {Design and Experimental Evaluation of a Hydraulically Actuated Robot Leg},
BOOKTITLE = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
YEAR = {2010},
OWNER = {CSemini},
TIMESTAMP = {2010.08.13},
DOI = {10.1109/IROS.2010.5651548},
}
T. Boaventura, C. Semini, E. Guglielmino, V. J. De Negri, Y. Yang, D. Caldwell, Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg
ABCM Symposium Series in Mechatronics, 673 -- 682, 2010, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{cunha10,
AUTHOR = {Boaventura, T. and Semini, C. and Guglielmino, E. and De Negri, V. J. and Yang, Y. and Caldwell, D.},
TITLE = {Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg},
BOOKTITLE = {ABCM Symposium Series in Mechatronics},
PUBLISHER = {ABCM - Brazilian Society of Mechanical Sciences and Engineering},
YEAR = {2010},
EDITOR = {De Negri, Victor Juliano and Perondi, Eduardo Adnr\E9 and Cunha, Mauro Andr\E9 Barbosa and Horikawa, Oswaldo},
VOLUME = {4},
PAGES = {673 -- 682},
ADDRESS = {Rio de Janeiro, RJ, Brazil},
NOTE = {ISBN XXX-XX-85769-47-5},
JORNAL = {ABCM Symposium Series in Mechatronics},
OWNER = {tboaventura},
TIMESTAMP = {2012.03.11},
URL = {http://www.abcm.org.br/pages/abcm_symposium_series_in_mechatronics_vol_4},
}
Y. Yang, E. Guglielmino, J. S. Dai, T. Boaventura, D. G. Caldwell, Modeling of a novel 3-way rotary type electro-hydraulic valve
Proc. IEEE Int Information and Automation (ICIA) Conf, 1463--1468, 2010, View at publisher - Full paper - BIBTEX Citation
@INPROCEEDINGS{yang10,
AUTHOR = {Yang, Yousheng and Guglielmino, E. and Dai, J. S. and Boaventura, Thiago and Caldwell, Darwin G.},
TITLE = {Modeling of a novel 3-way rotary type electro-hydraulic valve},
BOOKTITLE = {Proc. IEEE Int Information and Automation (ICIA) Conf},
YEAR = {2010},
PAGES = {1463--1468},
DOI = {10.1109/ICINFA.2010.5512286},
OWNER = {tboaventura},
TIMESTAMP = {2012.03.11},
}

 

2008

C. Semini, N. G. Tsagarakis, B. Vanderborght, Y. Yang, D. G. Caldwell, HyQ -- Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype
Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 593-599, 2008, View at publisher - BIBTEX Citation
@INPROCEEDINGS{semini08hyqbiorob,
AUTHOR = {Semini, Claudio and Tsagarakis, Nikos G. and Vanderborght, Bram and Yang, Yousheng and Caldwell, Darwin G.},
TITLE = {HyQ -- Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype},
BOOKTITLE = {Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
YEAR = {2008},
PAGES = {593-599},
OWNER = {CSemini},
TIMESTAMP = {2010.01.25},
DOI = {10.1109/BIOROB.2008.4762913},
}

 

@CONFERENCE{semini11bioinspnantes,
AUTHOR = {Semini, Claudio and Buchli, Jonas and Frigerio, Marco and Boaventura, Thiago and Focchi, Michele and Guglielmino, Emanuele and Cannella, Ferdinando and Tsagarakis, Nikos G. and Caldwell, Darwin G.},
TITLE = {HyQ -- A Dynamic Locomotion Research Platform},
BOOKTITLE = {Int.l Workshop on Bio-Inspired Robots, Nantes (France)},
YEAR = {2011},
OWNER = {csemini},
TIMESTAMP = {2011.09.16},
}

2024

B. Savioz, On the Benefits of Warm Starting for Sampling Model Predictive Control. A Reinforcement Learning Based Approach
Ecole Polytechnique Fédérale de Lausanne, 2024 Thesis Download

2022

A. Cumerlotti, Reaction Wheels: Enhancing Aerial Maneuvers for Legged Robots
Università di Trento, 2022 Thesis Download
R. Parosi, A Behavior-Tree Framework for Object Searching, Approaching and Grasping with a Quadruped Manipulator
Università di Genova, 2022 Thesis Download

2021

L. Ariaudo, Kalman filter for contact detection and localization during shin collisions in a dynamic legged robot
Politecnico di Torino, 2021 Thesis Download
L. Clemente, Dynamically Feasible Vision-Based Foothold Adaptations for Legged Locomotion
Politecnico di Torino, 2021 Thesis Download
Y. Nisticò, On Slip Detection for Quadruped Robots
Università di Pisa, 2021 Thesis Download
P. Romeo, Lower leg design and contact sensing of quadruped robot
Politecnico di Torino, 2021 Thesis Download

2020

G. Rosato, Localization and Mapping for Legged Robots
Politecnico di Torino, 2020 Thesis Download
A. Abdalla, Motion Feasibility Analysis in Quadruped Robots
Sapienza Università di Roma, 2020 Thesis Download

2019

A. Bratta, Model-Based Motion Planning for Quadruped Robots:from Simulation to Hardware Implementation
Politecnico di Torino, 2019 Thesis Download

Symposia and workshops

2019

G. Fink and C. Semini, Proprioceptive Sensor Dataset for Quadrupeds
Visual-Inertial Navigation: Challenges and Applications, IROS 2019 Workshop - Full paper - BIBTEX Citation
@ARTICLE{fink19iros,
AUTHOR = {Fink, Geoff and Semini, Claudio},
TITLE = {Proprioceptive Sensor Dataset for Quadrupeds},
JOURNAL = {},
VOLUME = {},
YEAR = {2019},
URL = {https://iit-dlslab.github.io/papers/fink19iros.pdf},
}

 

2016

A. Radulescu, I. Havoutis, D. G. Caldwell, C. Semini, Optimization for Non-Periodic Dynamic Motions of Legged Systems
Human Friendly Robotics, 2016 - Full paper - BIBTEX Citation
@CONFERENCE{radulescu16hfr,
AUTHOR = {Radulescu, Andreea and Havoutis, Ioannis and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {Optimization for Non-Periodic Dynamic Motions of Legged Systems},
JOURNAL = {Human Friendly Robotics},
YEAR = {2016},
OWNER = {aradulescu},
TIMESTAMP = {2016.12.05},
}
R. Orsolino, M. Focchi, D. G. Caldwell, C. Semini, An Asymmetric Model for Quadrupedal Bounding in Place
Human Friendly Robotics, 2016 - Full paper - BIBTEX Citation
@CONFERENCE{orsolino16hfr,
AUTHOR = {Orsolino, Romeo and Focchi, Michele and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {An Asymmetric Model for Quadrupedal Bounding in Place},
JOURNAL = {Human Friendly Robotics},
YEAR = {2016},
OWNER = {rorsolino},
TIMESTAMP = {2016.12.05},
}

 

2014

V. Barasuol, J. Buchli, J. V. De Negri, E. R. De Pieri, D. G. Caldwell, C. Semini, On Trajectory Generation and Active Impedance for Running Trotting
Dynamic Walking, 2014 - Full paper - BIBTEX Citation
@CONFERENCE{barasuol14dw,
AUTHOR = {Barasuol, Victor and Buchli, Jonas and De Negri, Juliano Victor and De Pieri, Edson Roberto and Caldwell, Darwin G. and Semini, Claudio},
TITLE = {On Trajectory Generation and Active Impedance for Running Trotting},
JOURNAL = {Dynamic Walking},
YEAR = {2014},
OWNER = {vbarasuol},
TIMESTAMP = {2014.11.24},
}

2013

M. Frigerio, C. Semini, J. Buchli, D. G. Caldwell, Challenges in the software architecture design for autonomous legged robots
Eighth workshop on Software Development and Integration in Robotics (ICRA SDIR VIII), 2013, View at publisher - Full paper - BIBTEX Citation
@CONFERENCE{frigerio13sdirviii,
AUTHOR = {Frigerio, Marco and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Challenges in the software architecture design for autonomous legged robots},
BOOKTITLE = {Eighth workshop on Software Development and Integration in Robotics (ICRA SDIR VIII)},
YEAR = {2013},
MONTH = {May},
NOTE = {accepted},
OWNER = {phd},
TIMESTAMP = {2013.04.22},
URL = {http://robotics.unibg.it/tcsoft/sdir2013/slides/frigerio.pdf},
}
H. Khan, C. Semini, D. G. Caldwell, Scaling of versatile quadruped robots for running trot
Int. Symp. Adaptive Motion of Animals and Machines (AMAM), 2013, View at publisher - Full paper - BIBTEX Citation
@CONFERENCE{khan13amam,
TITLE = {Scaling of versatile quadruped robots for running trot},
AUTHOR = {Khan, Hamza and Semini, Claudio and Caldwell, Darwin G.},
BOOKTITLE = {Int. Symp. Adaptive Motion of Animals and Machines (AMAM)},
YEAR = {2013},
URL = {http://www.worldscientific.com/worldscibooks/10.1142/8913},
}

 

2012

M. Frigerio, J. Buchli, D. G. Caldwell, Model based code generation for kinematics and dynamics computations in robot controllers
Seventh workshop on Software Development and Integration in Robotics (ICRA SDIR VII), 2012 - Full paper - BIBTEX Citation
@CONFERENCE{frigerio12sdirvii,
AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Model based code generation for kinematics and dynamics computations in robot controllers},
BOOKTITLE = {Seventh workshop on Software Development and Integration in Robotics (ICRA SDIR VII)},
YEAR = {2012},
MONTH = {May},
OPTIONS = {maxnames=7},
OWNER = {phd},
TIMESTAMP = {2014.01.09},
}

 

2011

T. Boaventura, C. Semini, J. Buchli, D. G. Caldwell, Actively-compliant Leg for Dynamic Locomotion
Int. Symp. Adaptive Motion of Animals and Machines (AMAM), 2011 - Full paper - BIBTEX Citation
@CONFERENCE{boaventura11amam,
AUTHOR = {Boaventura, Thiago and Semini, Claudio and Buchli, Jonas and Caldwell, Darwin G.},
TITLE = {Actively-compliant Leg for Dynamic Locomotion},
BOOKTITLE = {Int. Symp. Adaptive Motion of Animals and Machines (AMAM)},
YEAR = {2011},
OWNER = {csemini},
TIMESTAMP = {2011.09.15},
}
M. Frigerio, J. Buchli, D. G. Caldwell, A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms
2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob), 2011 - Full paper - BIBTEX Citation
@CONFERENCE{frigerio11kindsl,
AUTHOR = {Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G. },
TITLE = {A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms},
BOOKTITLE = {2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob)},
YEAR = {2011},
MONTH = {September},
KEYWORDS = {DSL, software, kinematics, dynamics, code generation, real time},
OPTIONS = {maxnames=7},
OWNER = {phd},
TIMESTAMP = {2014.01.09},
}
C. Semini, J. Buchli, M. Frigerio, T. Boaventura, M. Focchi, E. Guglielmino, F. Cannella, N. G. Tsagarakis, D. G. Caldwell, HyQ -- A Dynamic Locomotion Research Platform
Int.l Workshop on Bio-Inspired Robots, Nantes (France), 2011 - Full paper - BIBTEX Citation
T. Boaventura, C. Semini, Hydraulic Actuation
Encyclopedia of Robotics, 2022, View at publisher - BIBTEX Citation
@INCOLLECTION{raey,
AUTHOR = {Boaventura, Thiago and Semini, Claudio},
TITLE = {Hydraulic Actuation},
BOOKTITLE = {Encyclopedia of Robotics},
PUBLISHER = {Springer Berlin Heidelberg},
YEAR = {2022},
EDITOR = {Ang, Marcelo H. and Khatib, Oussama and Siciliano, Bruno},
PAGES = {1-8},
DOI = {10.1007/978-3-642-41610-1_59-1},
ISBN = {978-3-642-41610-1}
}
C. Semini, P.B. Wieber, Legged Robots
Encyclopedia of Robotics, 2020, View at publisher - BIBTEX Citation
@INCOLLECTION{raey,
AUTHOR = {Semini, Claudio and Wieber, Pierre-Brice},
TITLE = {Legged Robots},
BOOKTITLE = {Encyclopedia of Robotics},
PUBLISHER = {Springer Berlin Heidelberg},
YEAR = {2020},
EDITOR = {Ang, Marcelo H. and Khatib, Oussama and Siciliano, Bruno},
PAGES = {1-8},
DOI = {10.1007/978-3-642-41610-1_59-1},
ISBN = {978-3-642-41610-1}
}
D. G. Caldwell, N. Tsagarakis, C. Semini, Mechanism and Structures: Humanoids and Quadrupeds
Bioinspired Approaches for Human-Centric Technologies, 133-153, 2014, View at publisher - BIBTEX Citation
@INCOLLECTION{raey,
AUTHOR = {Caldwell, Darwin G. and Tsagarakis, Nikos and Semini, Claudio},
TITLE = {Mechanism and Structures: Humanoids and Quadrupeds},
BOOKTITLE = {Bioinspired Approaches for Human-Centric Technologies},
PUBLISHER = {Springer International Publishing},
YEAR = {2014},
EDITOR = {Cingolani, Roberto},
PAGES = {133-153},
DOI = {10.1007/978-3-319-04924-3_5},
ISBN = {978-3-319-04923-6},
LANGUAGE = {English},
}
M. Focchi, E. Guglielmino, G. Pane, S. Cordasco, C. Tacchino, D. G. Caldwell, Device for generating electric power from a source of air or other gas or fluid under pressure
, 2012 - BIBTEX Citation
@PATENT{focchi2012,
NATIONALITY = {ARIPO, Eruasian, European},
NUMBER = {WO 2012/004738 Al},
YEAR = {2012},
YEARFILED = {2013},
AUTHOR = {Focchi, Michele and Guglielmino, Emanuele and Pane, Gianluca and Cordasco, Stefano and Tacchino, Carlo and Caldwell, Darwin G},
TITLE = {Device for generating electric power from a source of air or other gas or fluid under pressure},
__MARKEDENTRY = {[mfocchi:6]},
OWNER = {mfocchi},
TIMESTAMP = {2013.03.13},
}