3. Claudio Semini

Claudio Semini

Researcher Tenure Track - Principal Investigator
Head of the Dynamic Legged Systems lab

Research Lines

Dynamic Legged Systems

Center

IIT Central Research Labs Genova

Contacts

Via Morego 30
+39 010 2898 283
+39 010 71781 912

Social profiles

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About

Claudio Semini is the head of IIT's Dynamic Legged Systems (DLS) lab. He holds an MSc degree from ETH Zurich in electrical engineering and information technology. He spent 2 years in Tokyo for his research: MSc thesis at the Hirose Lab at Tokyo Tech and staff engineer at the Toshiba R&D center in Kawasaki working on mobile service robotics. During his PhD and subsequent PostDoc at IIT, he developed the quadruped robot HyQ and worked on its control. Since 2012 he leads the DLS lab. His research focus lies on the construction and control of highly dynamic and versatile legged robots in real-world environments. He has published over 100 articles in journals and peer-reviewed conferences. He is a co-founder and chair of the IEEE RAS Technical Committee on Robot Mechanisms and Design. He was the coordinator of the EU-funded ECHORD++ experiment HyQ-REAL (www.hyq-real.eu) and currently heads the IIT side of the Moog/IIT joint lab (moog.iit.it).

Projects

Hydraulically Actuated Quadruped Robot - HyQ

EU FP7 Echord++ HyQ-REAL

Moog@IIT joint lab

 INAIL - teleoperation project

 

Selected Publications

C. Semini, "HyQ – Design and Development of a Hydraulically Actuated Quadruped Robot,” Dissertation, Italian Institute of Technology and University of Genoa, Italy, 2010.
   [full thesis] (high resolution version)

Selection of Conference, Journal, Workshops (for a complete and always up-to-date list visit http://dls.iit.it)

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), 2015. (published in June 2015)
     [full article]

C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, J. Buchli, "Is Active Impedance the Key to a Breakthrough for Legged Robots?" International Symposium of Robotics Research (ISRR), 2013.
     [full article]

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), 2013.
   [full article]

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 (IROS), 2012.
   [full article]

C. Semini, H. Khan, M. Frigerio, T. Boaventura, M. Focchi, J. Buchli and D. G. Caldwell, "Design and Scaling of Versatile Quadruped Robots", Int. Conf. on Climbing and Walking Robots (CLAWAR), 2012.
   [full article]

T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, D. G. Caldwell, "Dynamic Torque Control of a Hydraulic Quadruped Robot", Proceedings IEEE International Conference on Robotics and Automation (ICRA), 2012, St. Paul, USA.
   [full article]

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," Proc. IMechE Part I: J. Systems and Control Engineering, vol. 225, no. 6, pp. 831-849, 2011.
   [pdf (preprint), link]

C. Semini, N. G. Tsagarakis, E. Guglielmino and D. G. Caldwell, "Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot", International Conference on Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ.
   [full article]

M. Focchi, E. Guglielmino, C. Semini, T. Boaventura, Y. S. Yang, D. G. Caldwell, "Control of a Hydraulically-Actuated Quadruped Robot Leg," IEEE Int. Conf. on Robotics and Automation (ICRA), 2010.
   [full article]

B. Vanderborght, N. G. Tsagarakis, C. Semini, R. Van Ham, D. G. Caldwell, "MACCEPA 2.0: Adjustable Compliant Actuator with Stiffening Characteristic for Energy Efficient Hopping," IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 544-549, 2009

C. Semini, N. G. Tsagarakis, B. Vanderborght, Y. S. Yang and D. G. Caldwell, "HyQ - Hydraulically Actuated Quadruped Robot: Hopping Leg Prototype," IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), pp.593-599, 2008.
    [full article]

C. Semini, N. G. Tsagarakis, D. G. Caldwell, "Dynamic Tasks of a Hydraulically Actuated Quadruped Robot," Poster at Dynamic Walking Conference, Delft (The Netherlands), May 2008.
    [poster]

IIT Publications

  • 2020
  • Orsolino R.iit, Focchi M.iit, Caron S., Raiola G.iit, Barasuol V.iit, Caldwell D.iit, Semini C.iit
    DOI

    Feasible Region: An Actuation-Aware Extension of the Support Region

    IEEE Transactions on Robotics, vol. 36, (no. 4), pp. 1239-1255
  • Focchi M.iit, Orsolino R.iit, Camurri M.iit, Barasuol V.iit, Mastalli C.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality

    Springer Tracts in Advanced Robotics, vol. 132, pp. 165-209
  • Mastalli C.iit, Havoutis I., Focchi M.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Motion planning for quadrupedal locomotion: Coupled planning, terrain mapping, and whole-body control

    IEEE Transactions on Robotics, vol. 36, (no. 6), pp. 1635-1648
  • Villarreal O.iit, Barasuol V.iit, Wensing P.M.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 2436-2442
  • Bratta A.iit, Orsolino R.iit, Focchi M.iit, Barasuol V.iit, Muscolo G.G.iit, Semini C.iit
    DOI

    On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 1417-1423
  • Esteban D.iit, Villarreal O.iit, Fahmi S.iit, Semini C.iit, Barasuol V.iit
    DOI

    On the influence of body velocity in foothold adaptation for dynamic legged locomotion via cnns

    Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, pp. 353-360
  • Fahmi S.iit, Focchi M., Radulescu A., Fink G., Barasuol V.iit, Semini C.iit

    Soft Terrain Adaptation for HyQ

    Dynamic Walking
  • Urbain G., Barasuol V.iit, Semini C.iit, Dambre J., Wyffels F.
    DOI

    Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 6127-6133
  • Fahmi S.iit, Focchi M.iit, Radulescu A.iit, Fink G.iit, Barasuol V.iit, Semini C.iit
    DOI

    STANCE: Locomotion Adaptation over Soft Terrain

    IEEE Transactions on Robotics, vol. 36, (no. 2), pp. 443-457
  • Fink G.iit, Semini C.iit
    DOI

    The dls quadruped proprioceptive sensor dataset

    Robots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020, pp. 253-260
  • 2019
  • Orsolino R., Focchi M.iit, Semini C.iit

    Actuation-Aware Simplified Dy- namic Models for Robotic Legged Locomotion

    PhD Thesis
  • Reinke A.iit, Camurri M.iit, Semini C.iit
    DOI

    A Factor Graph Approach to Multi-camera Extrinsic Calibration on Legged Robots

    Proceedings - 3rd IEEE International Conference on Robotic Computing, IRC 2019, pp. 391-394
  • Semini C.iit, Barasuol V.iit, Focchi M.iit, Boelens C., Emara M.iit, Casella S., Villarreal O., Orsolino R., Fink G.iit, Fahmi S.iit, Medrano-Cerda G., Caldwell D.G.iit, Sangiah D., Lesniewski J., Fulton K., Donadon M., Baker M.

    Brief Introduction to the Quadruped Robot HyQReal

    Istituto di Robotica e Macchine Intelligenti ​3D
  • Magana O.A.V.iit, Barasuol V.iit, Camurri M.iit, Franceschi L.iit, Focchi M.iit, Pontil M.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs

    IEEE Robotics and Automation Letters, vol. 4, (no. 2), pp. 2140-2147
  • Barasuol V.iit, Fink G.iit, Focchi M.iit, Caldwell D. G.iit, Semini C.iit

    On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots

    The 22nd International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines, pp. 8
  • Fahmi S.iit, Mastalli C., Focchi M.iit, Semini C.iit
    DOI

    Passive Whole-Body Control for Quadruped Robots: Experimental Validation over Challenging Terrain

    IEEE Robotics and Automation Letters, vol. 4, (no. 3), pp. 2553-2560
  • Villarreal O.iit, Barasuol V.iit, Camurri M., Franceschi L., Semini C.iit

    Visual Foothold Adaptations for Rough Terrain Locomotion Using CNNs

    IEEE International Conference on Robotics and Automation (ICRA)
  • 2018
  • Orsolino R.iit, Focchi M.iit, Caldwells D.G.iit, Semini C.iit
    DOI

    A combined limit cycle-zero moment point based approach for omni-directional quadrupedal bounding

    Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017, pp. 407-414
  • Orsolino R.iit, Focchi M.iit, Mastalli C.iit, Dai H., Caldwell D.G.iit, Semini C.iit
    DOI

    Application of wrench-based feasibility analysis to the online trajectory optimization of legged robots

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 3363-3370
  • Ur Rehman B.iit, Caldwell D., Semini C.iit
    DOI

    Centaur robots-A survey

    Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017, pp. 247-258
  • Villarreal O.iit, Barasuol V.iit, Camurri M., Focchi M.iit, Franceschi L., Pontil M.iit, Caldwell D.G.iit, Semini C.iit

    Deep Convolutional Terrain Assessment for Visual Reactive Footstep Correction on Dynamic Legged Robots

    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
  • Barasuol V.iit, Villarreal-Magana O.A.iit, Sangiah D., Frigerio M.iit, Baker M., Morgan R., Medrano-Cerda G.A.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Highly-integrated hydraulic smart actuators and smart manifolds for high-bandwidth force control

    Frontiers Robotics AI, vol. 5, (no. JUN)
  • Gao Y.iit, Barasuol V.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Kinematic design of a configurable terrain simulator platform for robotic legs

    2017 2nd International Conference on Advanced Robotics and Mechatronics, ICARM 2017, vol. 2018-January, pp. 167-172
  • Deshpande N.iit, Ortiz J.iit, Sarakoglou I.iit, Semini C.iit, Tsagarakis N.iit, Brygo A.iit, Fernandez J.iit, Frigerio M.iit, Saccares L.iit, Toxiri S.iit, Caldwell D.G.iit
    DOI

    Next-generation collaborative robotic systems for industrial safety and health

    WIT Transactions on the Built Environment, vol. 174, pp. 187-200
  • Aceituno-Cabezas B., Mastalli C.iit, Dai H., Focchi M.iit, Radulescu A.iit, Caldwell D.G.iit, Cappelletto J., Grieco J.C., Fernandez-Lopez G., Semini C.iit
    DOI

    Simultaneous Contact, Gait, and Motion Planning for Robust Multilegged Locomotion via Mixed-Integer Convex Optimization

    IEEE Robotics and Automation Letters, vol. 3, (no. 3), pp. 2531-2538
  • Suzumori K., Hyon S.-H., Semini C.iit, Mattila J., Kanda T.
    DOI

    Special Issue on ‘New Hydraulic Components for Tough Robots’

    Advanced Robotics, vol. 32, (no. 9)
  • Frigerio M.iit, Barasuol V.iit, Focchi M.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Validation of computer simulations of the HyQ robot

    Human-Centric Robotics- Proceedings of the 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017, pp. 415-422
  • 2017
  • Bazeille S.iit, Ortiz J.iit, Rovida F., Camurri M.iit, Meguenani A., Caldwell D.G.iit, Semini C.iit
    DOI

    Active camera stabilization to enhance the vision of agile legged robots

    Robotica, vol. 35, (no. 4), pp. 942-960
  • Mattila J., Koivumaki J., Caldwell D.G.iit, Semini C.iit
    DOI

    A survey on control of hydraulic robotic manipulators with projection to future trends

    IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 2), pp. 669-680
  • Giftthaler M., Neunert M., Stauble M., Frigerio M.iit, Semini C.iit, Buchli J.
    DOI

    Automatic differentiation of rigid body dynamics for optimal control and estimation

    Advanced Robotics, vol. 31, (no. 22), pp. 1225-1237
  • Semini C.iit, Barasuol V.iit, Goldsmith J.iit, Frigerio M.iit, Focchi M.iit, Gao Y.iit, Caldwell D.G.iit
    DOI

    Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max

    IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 2), pp. 635-646
  • Neunert M., Giftthaler M., Frigerio M.iit, Semini C.iit, Buchli J.
    DOI

    Fast derivatives of rigid body dynamics for control, optimization and estimation

    2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016, pp. 91-97
  • Mattila J., Semini C.iit, Moon H., Buchli J., Hyon S., Li P.Y., Yao B.
    DOI

    Guest editorial introduction to the focused section on design and control of hydraulic robots

    IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 2), pp. 585-588
  • Nobili S., Camurri M.iit, Barasuol V.iit, Focchi M.iit, Caldwell D.G.iit, Semini C.iit, Fallon M.
    DOI

    Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots

    Robotics: Science and Systems, vol. 13
  • Focchi M.iit, del Prete A., Havoutis I., Featherstone R.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    High-slope terrain locomotion for torque-controlled quadruped robots

    Autonomous Robots, vol. 41, (no. 1), pp. 259-272
  • Heijmink E.iit, Radulescu A.iit, Ponton B., Barasuol V.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Learning optimal gait parameters and impedance profiles for legged locomotion

    IEEE-RAS International Conference on Humanoid Robots, pp. 339-346
  • Du C., Johnston N., Manring N.D., Plummer A., Semini C.iit, Yang M., Yu T.
    DOI

    Linear PID control design

    Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering, pp. 17-44, Publisher: CRC Press
  • Chung C.C., Du C., Fales R., Kim W., Manring N.D., Plummer A., Semini C.iit, Yu T.
    DOI

    Model construction of electro-hydraulic control system

    Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering, pp. 7-16, Publisher: CRC Press
  • Tournois G.iit, Focchi M.iit, Del Prete A., Orsolino R.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Online payload identification for quadruped robots

    IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 4889-4896
  • Camurri M.iit, Fallon M., Bazeille S., Radulescu A.iit, Barasuol V.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots

    IEEE Robotics and Automation Letters, vol. 2, (no. 2), pp. 1023-1030
  • Koivumaki J., Mattila J., Semini C.iit, Caldwell D.G.iit
    DOI

    Stability-guaranteed nonlinear model-based control of hydraulically actuated lightweight structures

    ASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017
  • Orsolino R.iit, Focchi M.iit, Mastalli C., Dai H., Caldwell D. G.iit, Semini C.iit

    The Actuation-Consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)

    2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada.
  • Khan H.iit, D'Imperio M.iit, Cannella F.iit, Caldwell D.G.iit, Cuschieri A., Semini C.iit
    DOI

    Towards scalable strain gauge-based joint torque sensors

    Sensors, vol. 17, (no. 8)
  • Mastalli C.iit, Focchi M.iit, Havoutis I., Radulescu A.iit, Calinon S., Buchli J., Caldwell D.G.iit, Semini C.iit
    DOI

    Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 1096-1103
  • Focchi M.iit, Featherstone R.iit, Orsolino R.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Viscosity-based height reflex for workspace augmentation for quadrupedal locomotion on rough terrain

    IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 5353-5360
  • Radulescu A.iit, Havoutis I., Caldwell D.G.iit, Semini C.iit
    DOI

    Whole-body trajectory optimization for non-periodic dynamic motions on quadrupedal systems

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 5302-5307
  • 2016
  • Kuwahara H., Terai F., Focchi M.iit, Medrano-Cerda G.A.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    A design method of a robust controller for hydraulic actuation with disturbance observers

    2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016, pp. 289-296
  • Orsolino R.iit, Focchi M.iit, Caldwell D. G.iit, Semini C.iit

    An Asymmetric Model for Quadrupedal Bounding in Place

    9th International Workshop on Human Human Friendly Robotics, Genoa, Italy
  • Dollar A., Semini C.iit, Cho K., Ciocarlie M.
    DOI

    Bringing Together Researchers in Robot Mechanisms and Design

    IEEE Robotics and Automation Magazine, vol. 24, (no. 1), pp. 18-19
  • Mastalli C.iit, Havoutis I., Focchi M.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Hierarchical planning of dynamic movements without scheduled contact sequences

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 4636-4641
  • Semini C.iit, Barasuol V., Boaventura T., Frigerio M.iit, Buchli J.
    DOI

    Is active impedance the key to a breakthrough for legged robots?

    Springer Tracts in Advanced Robotics, vol. 114, pp. 3-19
  • Frigerio M.iit, Buchli J., Caldwell D. G.iit, Semini C.iit

    RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on Domain Specific Languages

    Journal of Software Engineering for Robotics, vol. 7, (no. 1), pp. 36-54
  • Focchi M.iit, Medrano-Cerda G.A.iit, Boaventura T., Frigerio M.iit, Semini C.iit, Buchli J., Caldwell D.G.iit
    DOI

    Robot impedance control and passivity analysis with inner torque and velocity feedback loops

    Control Theory and Technology, vol. 14, (no. 2), pp. 97-112
  • Gao Y.iit, Barasuol V.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Study on the morphological parameters of quadruped robot designs considering ditch traversability

    2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, pp. 283-288
  • Rehman B.U.iit, Focchi M.iit, Lee J.iit, Dallali H.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Towards a multi-legged mobile manipulator

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 3618-3624
  • 2015
  • Liu X., Semini C.iit, Poulakakis I.
    DOI

    Active compliance hybrid zero dynamics control of bounding on HyQ

    2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, pp. 1047-1052
  • Semini C.iit, Goldsmith J.iit, Manfredi D.iit, Calignano F.iit, Ambrosio E.P.iit, Pakkanen J.iit, Caldwell D.G.iit
    DOI

    Additive manufacturing for agile legged robots with hydraulic actuation

    Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015, pp. 123-129
  • Khan H.iit, Cannella F.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    An innovative torque sensor design for the lightest hydraulic quadruped robot

    Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, pp. 309-316
  • Khan H.iit, Featherstone R.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Bio-inspired knee joint mechanism for a hydraulic quadruped robot

    ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications, pp. 325-331
  • Rehman B.U.iit, Focchi M.iit, Frigerio M.iit, Goldsmith J.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Design of a hydraulically actuated arm for a quadruped robot

    Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, pp. 283-290
  • Semini C.iit, Goldsmith J.iit, Ur Rehman B.iit, Frigerio M.iit, Barasuol V.iit, Focchi M.iit, Caldwell D. G.iit

    Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur

    14th Scandinavian International Conference on Fluid Power
  • Khan H.iit, Kitano S., Goa Y.iit, Caldwell D. G.iit, Semini C.iit

    Development of a lightweight on-board hydraulic system for a quadruped robot

    14th Scandinavian International Conference on Fluid Power
  • Khan H.iit, Kitano S., Frigerio M.iit, Camurri M.iit, Barasuol V.iit, Featherstone R.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Development of the lightweight hydraulic quadruped robot - MiniHyQ

    IEEE Conference on Technologies for Practical Robot Applications, TePRA, vol. 2015-August
  • Havoutis I.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Lidar-based navigation-level path planning for field-capable legged robots

    Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, pp. 669-676
  • Boaventura T.iit, Buchli J.iit, Semini C.iit, Caldwell D.G.iit
    DOI

    Model-Based Hydraulic Impedance Control for Dynamic Robots

    IEEE Transactions on Robotics, vol. 31, (no. 6), pp. 1324-1336
  • Mastalli C.iit, Havoutis I.iit, Winkler A.W.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    On-line and on-board planning and perception for quadrupedal locomotion

    IEEE Conference on Technologies for Practical Robot Applications, TePRA, vol. 2015-August
  • Dallali H.iit, Medrano-Cerda G.A.iit, Focchi M.iit, Boaventura T., Frigerio M.iit, Semini C.iit, Buchli J., Caldwell D.G.iit
    DOI

    On the use of positive feedback for improved torque control

    Control Theory and Technology, vol. 13, (no. 3), pp. 266-285
  • Ugurlu B., Havoutis I.iit, Semini C.iit, Kayamori K., Caldwell D.G.iit, Narikiyo T.
    DOI

    Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

    Autonomous Robots, vol. 38, (no. 4), pp. 415-437
  • Winkler A.W.iit, Mastalli C.iit, Havoutis I.iit, Focchi M.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, (no. June), pp. 5148-5154
  • Barasuol V.iit, Camurri M.iit, Bazeille S.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Reactive trotting with foot placement corrections through visual pattern classification

    IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, pp. 5734-5741
  • Camurri M.iit, Bazeille S.iit, Caldwell D.G.iit, Semini C.iit
    DOI

    Real-time depth and inertial fusion for local SLAM on dynamic legged robots

    IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, vol. 2015-October, pp. 259-264
  • Focchi M.iit, Barasuol V.iit, Frigerio M.iit, Caldwell D. G.iit, Semini C.iit
    DOI

    Slip Detection and Recovery for Quadruped Robots

    International Symposium on Robotics Research
  • Semini C.iit, Barasuol V.iit, Boaventura T., Frigerio M.iit, Focchi M.iit, Caldwell D.G.iit, Buchli J.
    DOI

    Towards versatile legged robots through active impedance control

    International Journal of Robotics Research, vol. 34, (no. 7), pp. 1003-1020
  • 2014
  • D'Imperio M., Cannella F.iit, Semini C.iit, Caldwell D.G.iit, Catelani D., Bernetti R.
    DOI

    Finite element analysis within component design process of hydraulic quadruped robot

    Proceedings of the ASME Design Engineering Technical Conference, vol. 7
  • Kostamo E., Focchi M.iit, Guglielmino E.iit, Kostamo J., Semini C.iit, Buchli J., Pietola M., Caldwell D.iit
    DOI

    Magnetorheologically damped compliant foot for legged robotic application

    Journal of Mechanical Design - Transactions of the ASME, vol. 136, (no. 2)
  • Caldwell D.G.iit, Tsagarakis N.iit, Semini C.iit
    DOI

    Mechanism and structures: Humanoids and quadrupeds

    Bioinspired Approaches for Human-Centric Technologies, pp. 133-153, Publisher: Springer International Publishing
  • D'Imperio M.iit, Cannella F.iit, Chen F.iit, Catelani D., Semini C.iit, Caldwell D.G.iit
    DOI

    Modelling legged robot multi-body dynamics using hierarchical virtual prototype design

    Lecture Notes in Computer Science, vol. 8608 LNAI, pp. 59-71
  • Barasuol V.iit, Buchli J., De Negri V. J., De Pieri E. R., Caldwell D. G.iit, Semini C.iit

    On Trajectory Generation and Active Impedance for Running Trotting

    Dynamic Walking
  • Winkler A.iit, Havoutis I.iit, Bazeille S.iit, Ortiz J.iit, Focchi M.iit, Dillmann R.iit, Caldwell D.iit, Semini C.iit
    DOI

    Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 6476-6482
  • Bazeille S.iit, Barasuol V.iit, Focchi M.iit, Havoutis I.iit, Frigerio M.iit, Buchli J., Caldwell D.G.iit, Semini C.iit
    DOI

    Quadruped robot trotting over irregular terrain assisted by stereo-vision

    Intelligent Service Robotics, vol. 7, (no. 2), pp. 67-77
  • 2013
  • Arain M.A., Havoutis I.iit, Semini C.iit, Buchli J., Caldwell D.G.iit
    DOI

    A comparison of search-based planners for a legged robot

    9th International Workshop on Robot Motion and Control, RoMoCo 2013 - Workshop Proceedings, pp. 104-109
  • Khan H.iit, Semini C.iit, Caldwell D.G.iit, Barasuol V.

    Actuator sizing for highly-dynamic quadruped robots based on squat jumps and running trots

    Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, pp. 511-518
  • Hutter M., Bloesch M., Buchli J., Semini C.iit, Bazeille S.iit, Righetti L., Bohg J.
    DOI

    AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots

    2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013
  • Barasuol V., Buchli J.iit, Semini C.iit, Frigerio M.iit, De Pieri E.R., Caldwell D.G.iit
    DOI

    A reactive controller framework for quadrupedal locomotion on challenging terrain

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 2554-2561
  • Ugurlu B., Havoutis I.iit, Semini C.iit, Caldwell D.G.iit
    DOI

    Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control

    IEEE International Conference on Intelligent Robots and Systems, pp. 6044-6051
  • Zapolsky S., Drumwright E., Havoutis I.iit, Buchli J., Semini C.iit
    DOI

    Inverse dynamics for a quadruped robot locomoting along slippery surfaces

    Nature-Inspired Mobile Robotics, pp. 555-562, Publisher: World Scientific Publishing Co.
  • Focchi M.iit, Barasuol V., Havoutis I.iit, Buchli J., Semini C.iit, Caldwell D.G.iit
    DOI

    Local reflex generation for obstacle negotiation in quadrupedal locomotion

    Nature-Inspired Mobile Robotics, pp. 443-450, Publisher: World Scientific Publishing Co.
  • Havoutis I.iit, Ortiz J.iit, Bazeille S.iit, Barasuol V., Semini C.iit, Caldwell D.G.iit
    DOI

    Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ)

    IEEE International Conference on Intelligent Robots and Systems, pp. 6052-6057
  • Havoutis I.iit, Semini C.iit, Buchli J., Caldwell D.G.iit
    DOI

    Quadrupedal trotting with active compliance

    2013 IEEE International Conference on Mechatronics, ICM 2013, pp. 610-616
  • Boaventura T.iit, Medrano-Cerda G.A.iit, Semini C.iit, Buchli J., Caldwell D.G.iit
    DOI

    Stability and performance of the compliance controller of the quadruped robot HyQ

    IEEE International Conference on Intelligent Robots and Systems, pp. 1458-1464
  • Bazeille S.iit, Barasuol V., Focchi M.iit, Havoutis I.iit, Frigerio M.iit, Buchli J., Semini C.iit, Caldwell D.G.iit
    DOI

    Vision enhanced reactive locomotion control for trotting on rough terrain

    IEEE Conference on Technologies for Practical Robot Applications, TePRA
  • 2012
  • Semini C.iit, Khan H.iit, Frigerio M.iit, Boaventura T.iit, Focchi M.iit, Buchli J.iit, Caldwell D.G.iit
    DOI

    Design and scaling of versatile quadruped robots

    Adaptive Mobile Robotics - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2012, pp. 273-280
  • Boaventura T.iit, Semini C.iit, Buchli J.iit, Frigerio M.iit, Focchi M.iit, Caldwell D.G.iit
    DOI

    Dynamic torque control of a hydraulic quadruped robot

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 1889-1894
  • Boaventura T.iit, Focchi M.iit, Frigerio M.iit, Buchli J.iit, Semini C.iit, Medrano-Cerda G.A.iit, Caldwell D.G.iit
    DOI

    On the role of load motion compensation in high-performance force control

    IEEE International Conference on Intelligent Robots and Systems, pp. 4066-4071
  • Focchi M.iit, Boaventura T.iit, Semini C.iit, Frigerio M.iit, Buchli J.iit, Caldwell D.G.iit
    DOI

    Torque-control based compliant actuation of a quadruped robot

    International Workshop on Advanced Motion Control, AMC
  • 2011
  • Semini C.iit, Tsagarakis N.G.iit, Guglielmino E.iit, Focchi M.iit, Cannella F.iit, Caldwell D.G.iit
    DOI

    Design of HyQ -A hydraulically and electrically actuated quadruped robot

    Proceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering, vol. 225, (no. 6), pp. 831-849
  • Semini C.iit, Buchli J.iit, Frigerio M.iit, Boaventura-Cunha T., Focchi M.iit, Guglielmino E.iit, Cannella F.iit, Tsagarakis N. G.iit, Caldwell D. G.iit

    HyQ - a dynamic locomotion research platform

    International Workshop on Bio-Inspired Robots
  • 2010
  • Yang Y.iit, Guglielmino E.iit, Semini C.iit, Dai J.S.iit, Caldwell D.G.iit
    DOI

    A 3-way valve-controlled spring assisted rotary actuator

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 2958-2963
  • Kogler H., Scheidl R., Ehrentraut M., Guglielmino E.iit, Semini C.iit, Caldwell D. G.iit

    A Compact Hydraulic Switching Converter for Robotic Applications

    ASME/BATH 2010 Symposium on Fluid Power and Motion Control, FPMC 2010, pp. 55-68
  • Guglielmino E.iit, Cannella F.iit, Semini C.iit, Caldwell D.G.iit, Rodriguez N.E.N., Vidal G.
    DOI

    A vibration study of a hydraulically-actuated legged machine

    ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE), vol. 8, (no. PARTS A AND B), pp. 1077-1083
  • Focchi M.iit, Guglielmino E.iit, Semini C.iit, Boaventura T.iit, Yang Y.iit, Caldwell D.G.iit
    DOI

    Control of a hydraulically-actuated quadruped robot leg

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 4182-4188
  • Semini C.iit, Tsagarakis N.G.iit, Guglielmino E.iit, Caldwell D.G.iit
    DOI

    Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 3640-3645
  • Guglielmino E.iit, Semini C.iit, Yang Y.iit, Caldwell D.iit, Kogler H., Scheidl R.
    DOI

    Energy efficient fluid power in autonomous legged robotics

    Proceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009, (no. PART B), pp. 1759-1766
  • Guglielmino E.iit, Semini C.iit, Kogler H., Scheidl R., Caldwell D.G.iit
    DOI

    Power hydraulics - Switched mode control of hydraulic actuation

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 3031-3036
  • Focchi M.iit, Guglielmino E.iit, Semini C.iit, Parmiggiani A.iit, Tsagarakis N.iit, Vanderborght B.iit, Caldwell D.G.iit
    DOI

    Water/air performance analysis of a fluidic muscle

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 2194-2199
  • 2009
  • Boaventura-Cunha T.iit, Semini C.iit, Guglielmino E.iit, De Negri V. J., Yang Y.iit, Caldwell D. G.iit

    Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg

    ABCM Symposium Series in Mechatronics, pp. 673-682
  • Yang Y.iit, Semini C.iit, Tsagarakis N.G.iit, Guglielmino E.iit, Caldwell D.G.iit
    DOI

    Leg mechanisms for hydraulically actuated robots

    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 4669-4675
  • Vanderborght B.iit, Tsagarakis N.G.iit, Semini C., Ham R.V.iit, Caldwell D.G.
    DOI

    MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 544-549
  • Yang Y.iit, Semini C.iit, Guglielmino E.iit, Tsagarakis N.G.iit, Caldwell D.G.iit
    DOI

    Water vs. oil hydraulic actuation for a robot leg

    2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, pp. 1940-1946
  • 2008
  • Semini C.iit, Tsagarakis N.G.iit, Vanderborght B.iit, Yang Y.iit, Caldwell D.G.iit
    DOI

    HyQ - hydraulically actuated quadruped robot: Hopping leg prototype

    Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, pp. 593-599
  • Yang Y.S.iit, Semini C.iit, Tsagarakis N.G.iit, Caldwell D.G.iit, Zhu Y.
    DOI

    Water hydraulics - A novel design of spool-type valves for enhanced dynamic performance

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1308-1314

Awards

Finalist, IEEE-RAS TC on Model-Based Optimiz. for Robotics Best Paper Award, 2020 for the paper "STANCE: Locomotion Adaptation over Soft Terrain"

Finalist, IEEE-RAS Ital. Chapter Fabrizio Flacco Young Author Best Paper Award, 2020 for the paper "STANCE: Locomotion Adaptation over Soft Terrain"

Highly Commended Paper award at CLAWAR 2019 for the paper "On the Detection and Localization of Shin Collisions and Reactive Actions in Quadruped Robots"

Best student paper award at CLAWAR 2017 conference for the paper: "A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding".

Best paper award at IEEE SIMPAR 2016 conference for the paper: "Fast Derivatives of Rigid Body Dynamics for Control, Optimization and Estimation" (in collaboration with ADRL of ETH Zurich)

Commended paper award at CLAWAR 2015 for the paper: "Lidar-based navigation-level path planning for field-capable legged robots"