Michele Focchi

IIT Publications

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

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

  IEEE Transactions on Robotics
• 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
• 2019
• Orsolino R., Focchi M.^iit, Semini C.^iit

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

  PhD Thesis
• 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
• Focchi M.^iit, Orsolino R.^iit, Camurri M., Barasuol V.^iit, Mastalli C., Caldwell D.^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, Publisher: Springer
• Focchi M.^iit, Orsolino R., Camurri M., Barasuol V., Mastalli C., Caldwell D.G.^iit
  DOI

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

  Advances in Robotics Research: From Lab to Market, Publisher: Springer, Cham
• Focchi M.^iit, Orsolino R.^iit, Camurri M., Barasuol V.^iit, Mastalli C., Caldwell D.^iit, Semini C.^iit

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

  Springer Tracts in Advanced Robotics, Publisher: Springer
• 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., Mastalli C., Focchi M.^iit, Semini C.
  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
• 2018
• 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
• 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)
• Focchi M.^iit, Orsolino R.^iit, Camurri M., Barasuol V.^iit, Mastalli C., Caldwell Darwin G.^iit, Semini C.^iit

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

  Springer Tracts in Advanced Robotics, Publisher: Springer
• 2017
• Orsolino R.^iit, Focchi M.^iit, Caldwell D. G.^iit, Semini C.^iit
  DOI

  A Combined Limit Cycle - Zero Moment Point based Approach for Omni-Directional Quadrupedal Bounding

  International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
• 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
• 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
• 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
• 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 Multi-Legged Locomotion via Mixed-Integer Convex Optimization

  IEEE Robotics and Automation Letters, vol. 3, (no. 3), pp. 2531 - 2538
• 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.
• 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
• Mastalli C., Focchi M.^iit, Havoutis I., Radulescu A.^iit, Calinon S., Buchli J., Caldwell D.^iit, Semini C.

  Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion

  IEEE International Conference on Robotics and Automation - 1989
• 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

  International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
• 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
• 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
• 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
• 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
• 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
• 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
• 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
• 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
• 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
• 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)
• 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
• 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.
• 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
• Focchi M.^iit, Persico G., Guglielmino E.^iit, Caldwell D.^iit
  DOI

  Novel concept for an air-pressure driven micro-turbine for power generation

  Proceedings of the ASME Turbo Expo, vol. 3, pp. 811-822
• 2010
• 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
• 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