Michele Focchi
Researcher
Researcher

About
please visit my webpage
Interests
rock climbing travelingIIT Publications
- 2020
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DOI
Editorial: Bridging the Gap Between the Lab and the Real World: Future Perspectives for Legged Robots
Frontiers in Robotics and AI -
Feasible Region: an Actuation-Aware Extension of the Support Region
IEEE Transactions on Robotics -
DOI
STANCE: Locomotion Adaptation over Soft Terrain
IEEE Transactions on Robotics, vol. 36, (no. 2), pp. 443-457 - 2019
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Actuation-Aware Simplified Dy- namic Models for Robotic Legged Locomotion
PhD Thesis -
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 -
DOI
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Springer Tracts in Advanced Robotics, Publisher: Springer -
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 -
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Springer Tracts in Advanced Robotics, Publisher: Springer -
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 - 2018
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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 -
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) -
Heuristic Planning for Rough Terrain Locomotion in Presence of External Disturbances and Variable Perception Quality
Springer Tracts in Advanced Robotics, Publisher: Springer - 2017
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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 -
DOI
Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max
IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 2), pp. 635-646 -
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
Online payload identification for quadruped robots
IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 4889-4896 -
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 -
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
Trajectory and foothold optimization using low-dimensional models for rough terrain locomotion
Proceedings - IEEE International Conference on Robotics and Automation, pp. 1096-1103 -
Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion
IEEE International Conference on Robotics and Automation - 1989 -
DOI
Validation of Computer Simulations of the HyQ Robot
International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines -
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
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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
Hierarchical planning of dynamic movements without scheduled contact sequences
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 4636-4641 -
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
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
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 -
DOI
On the use of positive feedback for improved torque control
Control Theory and Technology, vol. 13, (no. 3), pp. 266-285 -
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
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
Magnetorheologically damped compliant foot for legged robotic application
Journal of Mechanical Design - Transactions of the ASME, vol. 136, (no. 2) -
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
Local reflex generation for obstacle negotiation in quadrupedal locomotion
Nature-Inspired Mobile Robotics, pp. 443-450, Publisher: World Scientific Publishing Co. -
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 -
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
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DOI
Control of a hydraulically-actuated quadruped robot leg
Proceedings - IEEE International Conference on Robotics and Automation, pp. 4182-4188 -
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
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