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

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).
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
- 2021
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DOI
On State Estimation for Legged Locomotion over Soft Terrain
IEEE Sensors Letters - 2020
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DOI
A Simple Yet Effective Whole-Body Locomotion Framework for Quadruped Robots
Frontiers in Robotics and AI, vol. 7, pp. 159 -
DOI
Feasible Region: An Actuation-Aware Extension of the Support Region
IEEE Transactions on Robotics, vol. 36, (no. 4), pp. 1239-1255 -
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 -
Line Walking and Balancing for Legged Robots with Point Feet
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) -
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 -
DOI
MPC-based Controller with Terrain Insight for Dynamic Legged Locomotion
Proceedings - IEEE International Conference on Robotics and Automation, pp. 2436-2442 -
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 -
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 -
Soft Terrain Adaptation for HyQ
Dynamic Walking -
DOI
Stance Control Inspired by Cerebellum Stabilizes Reflex-Based Locomotion on HyQ Robot
Proceedings - IEEE International Conference on Robotics and Automation, pp. 6127-6133 -
DOI
STANCE: Locomotion Adaptation over Soft Terrain
IEEE Transactions on Robotics, vol. 36, (no. 2), pp. 443-457 -
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
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Actuation-Aware Simplified Dy- namic Models for Robotic Legged Locomotion
PhD Thesis -
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 -
Brief Introduction to the Quadruped Robot HyQReal
Istituto di Robotica e Macchine Intelligenti 3D -
DOI
Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs
IEEE Robotics and Automation Letters, vol. 4, (no. 2), pp. 2140-2147 -
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 -
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 -
Visual Foothold Adaptations for Rough Terrain Locomotion Using CNNs
IEEE International Conference on Robotics and Automation (ICRA) - 2018
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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 -
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 -
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 -
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) -
DOI
Highly-integrated hydraulic smart actuators and smart manifolds for high-bandwidth force control
Frontiers Robotics AI, vol. 5, (no. JUN) -
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 -
DOI
Next-generation collaborative robotic systems for industrial safety and health
WIT Transactions on the Built Environment, vol. 174, pp. 187-200 -
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 -
DOI
Special Issue on ‘New Hydraulic Components for Tough Robots’
Advanced Robotics, vol. 32, (no. 9) -
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
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DOI
Active camera stabilization to enhance the vision of agile legged robots
Robotica, vol. 35, (no. 4), pp. 942-960 -
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 -
DOI
Automatic differentiation of rigid body dynamics for optimal control and estimation
Advanced Robotics, vol. 31, (no. 22), pp. 1225-1237 -
DOI
Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max
IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 2), pp. 635-646 -
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 -
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 -
DOI
Heterogeneous sensor fusion for accurate state estimation of dynamic legged robots
Robotics: Science and Systems, vol. 13 -
DOI
High-slope terrain locomotion for torque-controlled quadruped robots
Autonomous Robots, vol. 41, (no. 1), pp. 259-272 -
DOI
Learning optimal gait parameters and impedance profiles for legged locomotion
IEEE-RAS International Conference on Humanoid Robots, pp. 339-346 -
DOI
Linear PID control design
Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering, pp. 17-44, Publisher: CRC Press -
DOI
Model construction of electro-hydraulic control system
Nonlinear Control Techniques for Electro-Hydraulic Actuators in Robotics Engineering, pp. 7-16, Publisher: CRC Press -
DOI
Online payload identification for quadruped robots
IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 4889-4896 -
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 -
DOI
Stability-guaranteed nonlinear model-based control of hydraulically actuated lightweight structures
ASME/BATH 2017 Symposium on Fluid Power and Motion Control, FPMC 2017 -
The Actuation-Consistent Wrench Polytope (AWP) and the Feasible Wrench Polytope (FWP)
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, Canada. -
DOI
Towards scalable strain gauge-based joint torque sensors
Sensors, vol. 17, (no. 8) -
DOI
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion
Proceedings - IEEE International Conference on Robotics and Automation, pp. 1096-1103 -
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 -
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
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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 -
An Asymmetric Model for Quadrupedal Bounding in Place
9th International Workshop on Human Human Friendly Robotics, Genoa, Italy -
DOI
Bringing Together Researchers in Robot Mechanisms and Design
IEEE Robotics and Automation Magazine, vol. 24, (no. 1), pp. 18-19 -
DOI
Hierarchical planning of dynamic movements without scheduled contact sequences
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 4636-4641 -
DOI
Is active impedance the key to a breakthrough for legged robots?
Springer Tracts in Advanced Robotics, vol. 114, pp. 3-19 -
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 -
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 -
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 -
DOI
Towards a multi-legged mobile manipulator
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 3618-3624 - 2015
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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 -
DOI
Additive manufacturing for agile legged robots with hydraulic actuation
Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015, pp. 123-129 -
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 -
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 -
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 -
Design overview of the hydraulic quadruped robots HyQ2Max and HyQ2Centaur
14th Scandinavian International Conference on Fluid Power -
Development of a lightweight on-board hydraulic system for a quadruped robot
14th Scandinavian International Conference on Fluid Power -
DOI
Development of the lightweight hydraulic quadruped robot - MiniHyQ
IEEE Conference on Technologies for Practical Robot Applications, TePRA, vol. 2015-August -
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 -
DOI
Model-Based Hydraulic Impedance Control for Dynamic Robots
IEEE Transactions on Robotics, vol. 31, (no. 6), pp. 1324-1336 -
DOI
On-line and on-board planning and perception for quadrupedal locomotion
IEEE Conference on Technologies for Practical Robot Applications, TePRA, vol. 2015-August -
DOI
On the use of positive feedback for improved torque control
Control Theory and Technology, vol. 13, (no. 3), pp. 266-285 -
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 -
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 -
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 -
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 -
DOI
Slip Detection and Recovery for Quadruped Robots
International Symposium on Robotics Research -
DOI
Towards versatile legged robots through active impedance control
International Journal of Robotics Research, vol. 34, (no. 7), pp. 1003-1020 - 2014
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DOI
Finite element analysis within component design process of hydraulic quadruped robot
Proceedings of the ASME Design Engineering Technical Conference, vol. 7 -
DOI
Magnetorheologically damped compliant foot for legged robotic application
Journal of Mechanical Design - Transactions of the ASME, vol. 136, (no. 2) -
DOI
Mechanism and structures: Humanoids and quadrupeds
Bioinspired Approaches for Human-Centric Technologies, pp. 133-153, Publisher: Springer International Publishing -
DOI
Modelling legged robot multi-body dynamics using hierarchical virtual prototype design
Lecture Notes in Computer Science, vol. 8608 LNAI, pp. 59-71 -
On Trajectory Generation and Active Impedance for Running Trotting
Dynamic Walking -
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 -
DOI
Quadruped robot trotting over irregular terrain assisted by stereo-vision
Intelligent Service Robotics, vol. 7, (no. 2), pp. 67-77 - 2013
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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 -
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 -
DOI
AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots
2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, SSRR 2013 -
DOI
A reactive controller framework for quadrupedal locomotion on challenging terrain
Proceedings - IEEE International Conference on Robotics and Automation, pp. 2554-2561 -
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 -
DOI
Inverse dynamics for a quadruped robot locomoting along slippery surfaces
Nature-Inspired Mobile Robotics, pp. 555-562, Publisher: World Scientific Publishing Co. -
DOI
Local reflex generation for obstacle negotiation in quadrupedal locomotion
Nature-Inspired Mobile Robotics, pp. 443-450, Publisher: World Scientific Publishing Co. -
DOI
Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ)
IEEE International Conference on Intelligent Robots and Systems, pp. 6052-6057 -
DOI
Quadrupedal trotting with active compliance
2013 IEEE International Conference on Mechatronics, ICM 2013, pp. 610-616 -
DOI
Stability and performance of the compliance controller of the quadruped robot HyQ
IEEE International Conference on Intelligent Robots and Systems, pp. 1458-1464 -
DOI
Vision enhanced reactive locomotion control for trotting on rough terrain
IEEE Conference on Technologies for Practical Robot Applications, TePRA - 2012
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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 -
DOI
Dynamic torque control of a hydraulic quadruped robot
Proceedings - IEEE International Conference on Robotics and Automation, pp. 1889-1894 -
DOI
On the role of load motion compensation in high-performance force control
IEEE International Conference on Intelligent Robots and Systems, pp. 4066-4071 -
DOI
Torque-control based compliant actuation of a quadruped robot
International Workshop on Advanced Motion Control, AMC - 2011
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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 -
HyQ - a dynamic locomotion research platform
International Workshop on Bio-Inspired Robots - 2010
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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 -
A Compact Hydraulic Switching Converter for Robotic Applications
ASME/BATH 2010 Symposium on Fluid Power and Motion Control, FPMC 2010, pp. 55-68 -
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 -
DOI
Control of a hydraulically-actuated quadruped robot leg
Proceedings - IEEE International Conference on Robotics and Automation, pp. 4182-4188 -
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 -
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 -
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 -
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
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Gain Scheduling Control for the Hydraulic Actuation of the HyQ Robot Leg
ABCM Symposium Series in Mechatronics, pp. 673-682 -
DOI
Leg mechanisms for hydraulically actuated robots
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 4669-4675 -
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 -
DOI
Water vs. oil hydraulic actuation for a robot leg
2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009, pp. 1940-1946 - 2008
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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 -
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"