Publications

You can download a bibtex file containing all our publications here

International Journal Papers

V. Barasuol, O. A. Villarreal-Magaña, D. Sangiah, M. Frigerio, M. Baker, R. Morgan, G. A. Medrano-Cerda, D. G. Caldwell, 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, C. Semini, Application of Wrench Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots
IEEE Robotics and Automation Letters, 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, S. Stramigioli, Development of a Safety and Energy Aware Impedance Controller for Collaborative Robots
IEEE Robotics and Automation Letters, 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},
}
B. Aceituno-Cabezas, C. Mastalli, H. Dai, M. Focchi, A. Radulescu, D. G. Caldwell, Cappelletto J., J. C. Grieco, Fernandez-Lopez G., C. Semini, Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
IEEE Robotics and Automation Letters, 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, 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, J. Buchli, Automatic differentiation of rigid body dynamics for optimal control and estimation
Advanced Robotics, 1-13, 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, 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, Ciocarlie M., 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, 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, 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, C. Semini, Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots
IEEE Robotics and Automation Letters, 1023-1030, 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, C. Semini, High-slope terrain locomotion for torque-controlled quadruped robots
Autonomous Robots, 259-272, 2017, View at publisher - Full paper - 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},
}
C. Semini, V. Barasuol, J. Goldsmith, M. Frigerio, M. Focchi, Y. Gao, 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, 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, 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},
}
T. Boaventura, J. Buchli, C. Semini, D. Caldwell, Model-Based Hydraulic Impedance Control for Dynamic Robots
Robotics, IEEE Transactions on, 1324-1336, 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, D. 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. Caldwell, 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, C. Semini, Active camera stabilization to enhance the vision of agile legged robots
Robotica, 1--19, 2015, View at publisher - Full paper - BIBTEX Citation
@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, 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},
}
S. Bazeille, V. Barasuol, M. Focchi, I. Havoutis, M. Frigerio, J. Buchli, D. G. Caldwell, C. Semini, Quadruped robot trotting over irregular terrain assisted by stereo-vision
Intelligent Service Robotics, pp. 67-77, 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, D. G. Caldwell, Magnetorheologically Damped Compliant Foot for Legged Robotic Application
Journal of Mechanical Design, pp. 021003-1/8, 2014, View at publisher - Full paper - 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, 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},
}
C. Semini, N. G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella, 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},
}

Dissertations

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},
}

International Conference Papers

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 - BIBTEX Citation
@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

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},
}
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},
}

2013

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 Robotsand 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{focchi2013a,
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},
}
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. 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

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},
}
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},
}

2010

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 978-85-85769-47-5},
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},
}

Symposia and workshops

2016

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},
}
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},
}

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

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},
}
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},
}

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

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
@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},
}
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},
}

Book Chapters

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},
}

Patents

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},
}